CN115031882A - Collision sensing method and device, vehicle and storage medium - Google Patents
Collision sensing method and device, vehicle and storage medium Download PDFInfo
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- CN115031882A CN115031882A CN202210630909.XA CN202210630909A CN115031882A CN 115031882 A CN115031882 A CN 115031882A CN 202210630909 A CN202210630909 A CN 202210630909A CN 115031882 A CN115031882 A CN 115031882A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 42
- 230000008447 perception Effects 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 13
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000005452 bending Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 5
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 2
- 239000011324 bead Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0052—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes measuring forces due to impact
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- 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
- B60R19/42—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects extending primarily along the sides of, or completely encircling, a vehicle
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- 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
- B60R19/48—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds
- B60R19/483—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds with obstacle sensors of electric or electronic type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
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Abstract
The invention discloses a collision sensing method, a collision sensing device, a vehicle and a storage medium, wherein the device comprises: the collision detection unit, the voltage division unit and the position judgment unit; the collision detection unit is used for detecting whether collision occurs or not and outputting a first voltage after the collision is detected; the voltage division unit is used for dividing the first voltage and outputting a divided second voltage; the collision detection unit is connected with the voltage division unit to form a first coding circuit; the plurality of first coding circuits are connected in parallel to form a second coding circuit; the position judging unit is connected with the second coding circuit, detects the voltage value of the third voltage output by the second coding circuit, and determines the collision detecting unit which collides according to the voltage value of the third voltage. The invention realizes the detection of the single analog-to-digital conversion interface on the multiple collision rubber strips in a circuit coding mode, and can accurately position the collision rubber strip to collide.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a collision sensing method and device, a vehicle and a storage medium.
Background
The method uses a contact resistance type collision sensor, namely a collision rubber strip to detect the slight collision of pedestrian collision and the like, wherein the collision rubber strip mainly comprises an air bag, a contact strip, a shell and a collision protection rubber sleeve. Under normal conditions, the air bag is inflated and swollen, the upper contact strip and the lower contact strip are separated, the upper lead and the lower lead are disconnected, the resistance between the two leads is close to infinity, and the resistance value is larger than 10K ohms due to factors such as bending of a sensor in actual use. When the collision adhesive tape bumps, the collision protection rubber sleeve on the outer side extrudes the air bag, and then the contact strip is extruded to contact, the larger the collision strength is, the smaller the resistance between the two wires is, and when the resistance is smaller than a certain value, the collision is considered to occur, such as 500 ohms. The resistance is infinite when the collision rubber strip is not collided, and the resistance is sharply reduced when the collision rubber strip is collided.
The prior art is simple and effective, and can meet the primary requirement. But the method is simple, only can judge whether collision occurs, and cannot accurately position; and when collision rubber strips need to be arranged on the side faces or one collision rubber strip cannot be continuously arranged due to the fact that a smooth surface does not exist in the front and the back of the collision rubber strips due to appearance reasons, a plurality of collision rubber strips need to be arranged, and at the moment, a plurality of analog-to-digital conversion interfaces are needed to collect data.
Disclosure of Invention
The invention mainly aims to provide a collision sensing method, a collision sensing device, a vehicle and a storage medium, and aims to solve the problems that collision rubber strips can only judge whether collision occurs and cannot accurately position and a plurality of analog-to-digital conversion interfaces are needed for deploying a plurality of collision rubber strips in the prior art.
To achieve the above object, the present invention provides a collision sensing apparatus, comprising: the collision detection unit, the voltage division unit and the position judgment unit;
the collision detection units are used for detecting whether collision occurs or not and outputting a first voltage after the collision is detected;
the voltage division units are used for dividing the first voltage and outputting a divided second voltage;
the collision detection unit is connected with the voltage division unit to form a first coding circuit;
the first coding circuits are connected in parallel to form a second coding circuit;
the position judging unit is connected with the second coding circuit, detects the voltage value of the third voltage output by the second coding circuit, and determines a collision detecting unit which collides according to the voltage value of the third voltage.
Optionally, the collision detecting unit comprises: a switch module;
the switch module includes: the circuit comprises a comparator, a first resistor, a second resistor and a third resistor; the first resistor and the second resistor are connected into a negative phase end of the comparator in parallel, the third resistor and the second contact bar are connected into a positive phase end of the comparator in parallel, a negative electrode of the comparator is connected with a positive electrode of a first power supply, a positive electrode of the comparator is grounded, and an output end of the comparator is connected with the voltage division unit;
the other end of the first resistor is connected with the anode of a second power supply, the first contact strip is connected with the anode of the second power supply, the other end of the second resistor is grounded, and the other end of the third resistor is grounded;
when the input voltage of the positive phase end of the comparator is greater than the input voltage of the negative phase end, the output end of the comparator outputs high level, and when the input voltage of the positive phase end of the comparator is less than the input voltage of the negative phase end, the output end of the comparator outputs low level.
Optionally, each of the voltage dividing units in the plurality of first encoding circuits has a fixed and different resistance value.
Optionally, after the collision detection unit of each of the first encoding circuits in the plurality of first encoding circuits collides, each of the first encoding circuits outputs a fixed and different voltage value.
In addition, in order to achieve the above object, the present invention further provides a collision sensing method, including:
the collision detection unit is connected with the voltage division unit to form a first coding circuit; outputting a voltage of a first voltage value when the first encoding circuit detects a collision;
the first coding circuits are connected in parallel to form a second coding circuit;
detecting the voltage of the second coding circuit to obtain a second voltage value;
and when the second voltage value is larger than the threshold value, determining a collision detection unit which collides according to the second voltage value.
Optionally, each of the voltage dividing units in the plurality of first encoding circuits has a fixed and different resistance value.
Optionally, after the collision detection unit of each of the first encoding circuits in the plurality of first encoding circuits collides, each of the first encoding circuits outputs a fixed and different voltage value.
Optionally, the collision detection unit for determining the collision according to the second voltage value includes:
assigning a unique identifier to each of said first encoding circuits;
recording the corresponding relation between the resistance value of the voltage division unit of each first coding circuit and the unique identifier of the first coding circuit;
combining first voltage values of output voltages when the first coding circuits detect collision according to the resistance values of the voltage division units of the first coding circuits to obtain a plurality of third voltage values; recording the unique identifier of the first coding circuit corresponding to each third voltage value;
searching the third voltage value equal to the second voltage value to obtain a fourth voltage value;
and acquiring the unique identifier of the first coding circuit corresponding to the fourth voltage value.
Furthermore, to achieve the above object, the present invention also proposes a vehicle comprising: a memory, a processor and a collision-aware program stored on the memory and executable on the processor, the collision-aware program being configured to implement the steps of the collision-aware method as described above.
Furthermore, to achieve the above object, the present invention also proposes a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the steps of the collision sensing method as described above.
The invention realizes the detection of a single analog-to-digital conversion interface on multiple collision rubber strips in a circuit coding mode, and can accurately position which collision rubber strip is collided; when a plurality of collision rubber strips are deployed, only one analog-to-digital conversion interface needs to be deployed, so that the equipment cost is reduced.
Drawings
Fig. 1 is a block diagram of a collision sensing apparatus according to an embodiment of the present invention.
Fig. 2 is a block diagram of the collision detecting unit according to an embodiment of the present invention.
Fig. 3 is a block diagram of a collision module according to an embodiment of the present invention.
Fig. 4 is a circuit diagram of an embodiment of a switch module of the invention.
FIG. 5 is a circuit diagram of an embodiment of an encoding circuit according to the present invention.
Fig. 6 is a schematic flow chart of a collision sensing method according to the present invention.
Fig. 7 is a schematic flow chart of collision location provided by the present invention.
Fig. 8 is a vehicle structure diagram of a hardware operating environment according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In one embodiment, as shown in fig. 1, the present invention provides a collision sensing apparatus, the apparatus comprising: collision detection unit 10, partial pressure unit 20, position determination unit 30. A collision detection unit 10 for detecting whether a collision occurs and outputting a switching signal after detecting the collision; a voltage dividing unit 20 for dividing a voltage; the position determining unit 30 is configured to detect the first voltage value, and determine whether the collision detecting unit collides according to the first voltage value.
As shown in fig. 2 and 3, the collision detecting unit 10 includes: a collision module 11, a switch module 12; a crash module 11 comprising: an air bag 112, a contact strip 113 and a collision protection rubber sleeve 111; a first contact strip 113 is arranged on the upper side in the air bag 112, a second contact strip 113 is arranged on the lower side in the air bag 20, and when the air bag 112 is inflated and expanded, the first contact strip 113 and the second contact strip 113 are separated; the airbag 112 is installed inside the collision protection packing 111. The contact strips 113 may be mounted on the upper and lower sides of the air bag 112 by gluing, or may be mounted by other means, such as a snap.
A conductive wire 114 (e.g., a bare copper wire) is installed inside the contact strip 113, and the contact strip 113 is made of a conductive material, such as conductive foam or conductive tape. Under normal conditions, the air bag 112 is inflated and swollen, the contact strips 113 arranged above and below the air bag 112 are separated, so that the upper and lower conducting wires 114 are disconnected, the resistance between the two conducting wires 114 is close to infinity, and in actual use, due to factors such as bending of the collision detection unit 10 (such as a collision rubber strip), the resistance is larger than 10K ohms.
When the crash rubber strip collides, the outer crash protection rubber sleeve 111 presses the air bag 112 and further presses the contact strip 113 to contact, the larger the crash strength is, the smaller the resistance between the two wires 114 is, and when the resistance is smaller than a certain value, it is considered that a collision occurs, for example, 500 ohms. How large the specific resistance value indicates that a collision has occurred can be determined according to the actual material. Therefore, the collision rubber strip can be used as a rheostat, and whether the collision rubber strip collides or not can be judged by detecting the change of the resistance value.
As shown in fig. 4, the switch module 12 includes: a comparator 125, a first resistor 122, a second resistor 123, and a third resistor 128; the first resistor 122 and the second resistor 123 are connected in parallel to a negative phase terminal of the comparator 125, the third resistor 128 and the second contact bar 113 are connected in parallel to a positive phase terminal of the comparator 125, a negative electrode of the comparator 125 is connected to a positive electrode of the first power supply 124, a positive electrode of the comparator 125 is grounded, and an output terminal 126 of the comparator 125 is connected to the voltage dividing unit 20. The lead 114 of the first contact strip 113 of the crash strip is connected to the positive pole of the second power source. When the vehicle-mounted power supply is used in a vehicle-mounted application, the first power supply and the second power supply are vehicle-mounted power supplies and supply power through the vehicle-mounted power supplies.
The other end of the first resistor 122 is connected to the positive terminal of the second power supply, the first contact bar 113 is connected to the positive terminal of the second power supply, the other end of the second resistor 123 is grounded, and the other end of the third resistor 128 is grounded.
when the voltage of the '+' input end is higher than that of the '-' input end, the output of the voltage comparator is high level;
when the voltage at the '+' input end is lower than that at the '-' input end, the output of the voltage comparator is low level;
under normal conditions, the air bag 112 is inflated and expanded, and the contact strips 113 arranged above and below the air bag 112 are separated, so that the upper and lower conducting wires 114 are disconnected, the resistance between the two conducting wires 114 is nearly infinite, and in actual use, due to factors such as bending of the collision detection unit 10 (such as a collision rubber strip), the resistance value is larger than 10K ohms. Therefore, when the crash rubber is used as one resistor, the resistance value in the normal state (the inflation and bulging of the bag 112) is larger than that of the first resistor. So that the voltage at the '+' input of the comparator 125 is lower than the '-' input, and the voltage comparator output is at the low level GND; when the crash rubber strip collides, the contact strips 113 installed above and below the airbag 112 contact, and the resistance value is smaller than that of the first resistor, the voltage at the '+' input terminal of the comparator 125 is higher than that at the '-' input terminal, and the voltage comparator outputs a high level, that is, the voltage of the first power source, for example, the 12V voltage of the vehicle power source.
As shown in fig. 5, each collision detecting unit 10 and one voltage dividing unit 20 are connected in series to constitute an encoding circuit. The voltage dividing unit 20 is a voltage dividing resistor. According to actual requirements, a plurality of coding circuits are connected in parallel to form a parallel coding circuit, and a first power supply, such as a vehicle-mounted power supply, supplies power to the parallel coding circuit. The position determination unit 30 (e.g., an ECU of an unmanned vehicle) acquires the voltage output from the parallel encoding circuit in real time. Specifically, a plurality of coding circuits are connected in parallel and are set according to actual requirements. If in unmanned driving, a plurality of collision rubber strips are arranged around the vehicle to detect that the collision occurs at the part.
When a plurality of coding circuits form a parallel coding circuit, the resistance value of the voltage dividing unit 20 (i.e., voltage dividing resistor) of each coding circuit is unique, i.e., the resistance value of each voltage dividing resistor is different. The resistance values of the 8 divider resistors are shown in the following table:
| encoding circuit | Voltage dividing resistor | Resistance value |
| Coding circuit 1 | Voltage dividing resistor 1 | 100 ohm |
| Coding circuit 2 | Divider resistor 2 | 200 ohm |
| Coding circuit 3 | Divider resistor 3 | 400 ohm |
| Encoding circuit 4 | Divider resistor 4 | 800 ohm |
| Coding circuit 5 | Divider resistance 5 | 1600 ohm |
| Encoding circuit 6 | Divider resistor 6 | 3200 ohm |
| Encoding circuit 7 | Divider resistor 7 | 6400 ohm |
| Encoding circuit 8 | Voltage dividing resistor 8 | 12800 ohm |
In the event of a crash of the crash bar, the voltage detected by the ECU of the unmanned vehicle is as follows (Uo is the voltage detected by the ECU, Rb is a resistance of 100 ohms, and Ui is the voltage of the first power supply, e.g., the 12V voltage of the on-board power supply):
uo ═ Ui/(Rb + Rb) × Rb ═ Ui/2 when the crash strip 1 collides
When the impact strip 2 impacts, Uo ═ Ui/(2Rb + Rb)) × Rb ═ Ui/3
Uo ═ Ui/(4Rb + Rb)). Rb ═ Ui/5 when the crash strip 3 collides
Uo ═ Ui/(8Rb + Rb)). Rb ═ Ui/9 when the crash strip 4 collides
When the crash strips 1, 2 collide, Uo ═ Ui/((Rb × 2Rb)/(Rb +2Rb) + Rb ═ Ui × 3/5
When the crash beads 1, 2, 3 collide, Uo ═ Ui/((Rb × 2Rb × 4Rb)/(2Rb × 4Rb + Rb × 2Rb) + Rb ═ Ui × 7/11
The others are similar.
The vehicle-mounted ECU has uniqueness according to the detected voltage value, and can judge which collision rubber strips collide through the unique voltage value, and each collision rubber strip can be installed at a specific position, such as the periphery of an unmanned vehicle. So that the in-vehicle ECU can determine that the collision has occurred at the position around the unmanned vehicle.
By adopting the technical scheme, the collision rubber strips can be flexibly arranged according to the detection precision, and if the collision is sent only by accurately reaching the front position, the rear position, the left position and the right position of the vehicle, the requirements can be met only by deploying 4 collision rubber strips.
In the embodiment, the detection of a single analog-to-digital conversion interface on multiple collision rubber strips is realized in a circuit coding mode, and the collision rubber strip can be accurately positioned to collide; when a plurality of collision rubber strips are deployed, only one analog-to-digital conversion interface needs to be deployed, so that the equipment cost is reduced.
In one embodiment, FIG. 6 provides a detailed process of a collision perception method.
Step S101, connecting a collision detection unit with a voltage division unit to form a first coding circuit; when the first encoding circuit detects a collision, a voltage of a first voltage value is output.
As shown in fig. 2 and 3, the collision detecting unit 10 includes: a collision module 11, a switch module 12; a crash module 11 comprising: an air bag 112, a contact strip 113 and a collision protection rubber sleeve 111; a first contact strip 113 is arranged on the upper side in the air bag 112, a second contact strip 113 is arranged on the lower side in the air bag 20, and when the air bag 112 is inflated and expanded, the first contact strip 113 and the second contact strip 113 are separated; the airbag 112 is installed inside the collision protection packing 111. The contact strips 113 can be mounted on the upper and lower sides of the air bag 112 by gluing, or can be mounted by other means, such as a snap.
A conductive wire 114 (e.g., a bare copper wire) is installed inside the contact strip 113, and the contact strip 113 is made of a conductive material, such as conductive foam or conductive tape. Under normal conditions, the air bag 112 is inflated and swollen, the contact strips 113 arranged above and below the air bag 112 are separated, so that the upper and lower conducting wires 114 are disconnected, the resistance between the two conducting wires 114 is close to infinity, and in actual use, due to factors such as bending of the collision detection unit 10 (such as a collision rubber strip), the resistance is larger than 10K ohms.
When the impact rubber strip collides, the outer impact protection rubber sleeve 111 presses the air bag 112 and further presses the contact strip 113 to contact with the air bag, the higher the impact strength is, the lower the resistance between the two wires 114 is, and when the resistance is smaller than a certain value, the impact is considered to occur, such as 500 ohms. The specific resistance value indicates the occurrence of a collision and can be determined according to actual materials. Therefore, the collision rubber strip can be used as a rheostat, and whether the collision rubber strip collides or not can be judged by detecting the change of the resistance value.
As shown in fig. 4, the switch module 12 includes: a comparator 125, a first resistor 122, a second resistor 123, and a third resistor 128; the first resistor 122 and the second resistor 123 are connected in parallel to a negative phase terminal of the comparator 125, the third resistor 128 and the second contact bar 113 are connected in parallel to a positive phase terminal of the comparator 125, a negative electrode of the comparator 125 is connected to a positive electrode of the first power supply 124, a positive electrode of the comparator 125 is grounded, and an output terminal 126 of the comparator 125 is connected to the voltage dividing unit 20. The lead 114 of the first contact strip 113 of the crash strip is connected to the positive pole of the second power source. When the vehicle-mounted power supply is used in a vehicle-mounted application, the first power supply and the second power supply are vehicle-mounted power supplies, and power is supplied through the vehicle-mounted power supplies.
The other end of the first resistor 122 is connected to the positive terminal of the second power supply, the first contact bar 113 is connected to the positive terminal of the second power supply, the other end of the second resistor 123 is grounded, and the other end of the third resistor 128 is grounded.
when the voltage of the '+' input end is higher than that of the '-' input end, the output of the voltage comparator is high level;
when the voltage at the '+' input end is lower than that at the '-' input end, the output of the voltage comparator is in low level;
under normal conditions, the air bag 112 is inflated and expanded, and the contact strips 113 arranged above and below the air bag 112 are separated, so that the upper and lower conducting wires 114 are disconnected, the resistance between the two conducting wires 114 is nearly infinite, and in actual use, due to factors such as bending of the collision detection unit 10 (such as a collision rubber strip), the resistance value is larger than 10K ohms. Therefore, when the impact strip is used as a resistor, the resistance value under normal conditions (inflation of the bag 112) is larger than the resistance value of the first resistor. Thus, the voltage at the '+' input of the comparator 125 is lower than the '-' input, and the output of the comparator is at the low level GND; when the crash rubber strip collides, the contact strips 113 installed above and below the airbag 112 contact, and the resistance value is smaller than that of the first resistor, the voltage at the '+' input terminal of the comparator 125 is higher than that at the '-' input terminal, and the voltage comparator outputs a high level, that is, the voltage of the first power source, for example, the 12V voltage of the vehicle power source.
And S102, connecting a plurality of first coding circuits in parallel to form a second coding circuit.
As shown in fig. 5, each collision detecting unit 10 and one voltage dividing unit 20 are connected in series to constitute an encoding circuit. The voltage dividing unit 20 is a voltage dividing resistor. According to actual requirements, a plurality of coding circuits are connected in parallel to form a parallel coding circuit, and a first power supply, such as a vehicle-mounted power supply, supplies power to the parallel coding circuit. The position determination unit 30 (e.g., an ECU of an unmanned vehicle) acquires the voltage output from the parallel encoding circuit in real time. Specifically, a plurality of coding circuits are connected in parallel and are set according to actual requirements. If in unmanned driving, a plurality of collision rubber strips are arranged around the vehicle to detect that the collision occurs at the part.
When a plurality of coding circuits form a parallel coding circuit, the resistance value of the voltage dividing unit 20 (i.e., voltage dividing resistor) of each coding circuit is unique, i.e., the resistance value of each voltage dividing resistor is different. The resistance values of the 8 divider resistors are shown in the following table:
| encoding circuit | Voltage dividing resistor | Resistance value |
| Coding circuit 1 | Voltage dividing resistor 1 | 100 ohm |
| Coding circuit 2 | Divider resistor 2 | 200 ohm |
| Coding circuit 3 | Divider resistor 3 | 400 ohm |
| Encoding circuit 4 | Divider resistance 4 | 800 ohm |
| Coding circuit 5 | Divider resistor 5 | 1600 ohm |
| Encoding circuit 6 | Divider resistor 6 | 3200 ohm |
| Encoding circuit 7 | Voltage dividing resistor 7 | 6400 ohm |
| Encoding circuit 8 | Voltage dividing resistor 8 | 12800 ohm |
And step S103, detecting the voltage of the second coding circuit to obtain a second voltage value.
The vehicle-mounted ECU (calculating unit) detects the voltage output by the parallel coding circuit in real time and then compares the voltage with a certain threshold (for example, the threshold is 1V, and the size of the threshold can be set according to actual conditions).
And step S104, when the second voltage value is larger than a threshold value, determining a collision detection unit which collides according to the second voltage value.
In the event of a crash of the crash bar, the voltage detected by the ECU of the unmanned vehicle is as follows (Uo is the voltage detected by the ECU, Rb is a 100 ohm resistor, and Ui is the voltage of the first power supply, such as the 12V voltage of the on-board power supply):
uo ═ Ui/(Rb + Rb) × Rb ═ Ui/2 when the crash strip 1 collides
Uo ═ Ui/(2Rb + Rb)). Rb ═ Ui/3 when the crash strip 2 collides
Uo ═ Ui/(4Rb + Rb)). Rb ═ Ui/5 when the crash strip 3 collides
Uo ═ Ui/(8Rb + Rb)). Rb ═ Ui/9 when the crash strip 4 collides
When the crash strips 1, 2 collide, Uo ═ Ui/((Rb × 2Rb)/(Rb +2Rb) + Rb ═ Ui × 3/5
When the impact beads 1, 2, and 3 collide, Uo ═ Ui/((Rb × 2Rb × 4Rb)/(2Rb × 4Rb + Rb × 2Rb) + Rb) ═ Ui × 7/11
The others are similar.
The vehicle-mounted ECU has uniqueness according to the detected voltage value, and can judge which collision rubber strips collide through the unique voltage value, and each collision rubber strip can be installed at a specific position, such as the periphery of an unmanned vehicle. Thus, the vehicle-mounted ECU can judge that the collision occurs at the position around the unmanned vehicle.
And judging which collision rubber strips collide, and referring to the flow chart shown in fig. 7.
Step S201, assigning a unique identifier to each first encoding circuit.
Step S202, recording a corresponding relationship between the resistance value of the voltage dividing unit of each first encoding circuit and the unique identifier of the first encoding circuit.
And (3) dividing voltage for each collision rubber strip by a unique identifier, and recording the resistance value of a voltage dividing resistor connected in series with the collision rubber strip if the unique identifier corresponding to the collision rubber strip A is PZ-001. As shown in the following table:
step S203, combining the first voltage values of the output voltage when each first coding circuit detects collision according to the resistance value of the voltage dividing unit of each first coding circuit to obtain a plurality of third voltage values; and recording the unique identification of the first coding circuit corresponding to each third voltage value.
After each collision rubber strip collides, the voltage values detected by the ECU of the unmanned vehicle are different. The number of output voltages when the collision rubber strips collide is the combination of the multiple coding circuits, and each voltage uniquely corresponds to one or some collision rubber strips.
According to the voltage for supplying power to the parallel coding circuits and the resistance value of each voltage division unit (namely voltage division resistor), voltage values of the multiple coding circuits when collision rubber strips collide are calculated, and corresponding identifications of the collision rubber strips are stored. The following table shows the correspondence between partial voltages and the collision of the collision rubber strip:
ui is the voltage of the first power supply, e.g. the 12V voltage of the vehicle power supply.
And S204, searching the third voltage value equal to the second voltage value to obtain a fourth voltage value.
And step S205, acquiring the unique identifier of the first coding circuit corresponding to the fourth voltage value.
After the vehicle-mounted ECU detects the voltage output by the parallel coding circuit, whether a corresponding voltage value exists or not is checked according to the query of the detected voltage value in the database, and then the identification of the collision rubber strip corresponding to the corresponding voltage value is output. During query, the detected voltage and the voltage stored in the database table are allowed to have a certain deviation, such as a deviation of 0.5V. And if the detected voltage is 5.6V and the voltage value of a record in the database table is 6V, matching the detected voltage of 5.6V with the record, and outputting the collision rubber strip identifier corresponding to the 6V record.
When the unmanned vehicle is provided with the collision rubber strips, the mounting position of each collision rubber strip is recorded in the vehicle-mounted ECU, and the following table shows that:
| collision rubber strip | Collision rubber strip mark | Mounting location |
| Crash rubber strip 1 | PZ-TAPE-001 | Vehicle front side |
| Crash rubber strip 2 | PZ-TAPE-002 | Vehicle rear side |
| Crash rubber strip 3 | PZ-TAPE-003 | Vehicle right side |
| Impact strip 4 | PZ-TAPE-004 | Left side of vehicle |
The unmanned vehicle acquires which collision rubber strips collide according to the detected voltage value, and then displays the collision at the corresponding position on the vehicle-mounted display screen according to the installation position of the collision rubber strips, so as to prompt a user to process.
In the embodiment, the detection of a single analog-to-digital conversion interface on multiple collision rubber strips is realized in a circuit coding mode, and the collision rubber strip can be accurately positioned to collide; when a plurality of collision rubber strips are deployed, only one analog-to-digital conversion interface needs to be deployed, so that the equipment cost is reduced.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a vehicle in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 8, the vehicle may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include standard wired interfaces, wireless interfaces (e.g., WI-FI, 4G, 5G interfaces). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the configuration shown in fig. 8 does not constitute a limitation of the vehicle and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 8, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a collision sensing program.
In the vehicle shown in fig. 8, the network interface 1004 is mainly used for data communication with an external network; the user interface 1003 is mainly used for receiving input instructions of a user; the vehicle invokes the collision sense program stored in the memory 1005 by the processor 1001 and performs the following operations:
the collision detection unit is connected with the voltage division unit to form a first coding circuit; outputting a voltage of a first voltage value when the first encoding circuit detects a collision;
the first coding circuits are connected in parallel to form a second coding circuit;
detecting the voltage of the second coding circuit to obtain a second voltage value;
and when the second voltage value is larger than the threshold value, determining a collision detection unit which collides according to the second voltage value.
Optionally, each of the voltage dividing units in the plurality of first encoding circuits has a fixed and different resistance value.
Optionally, after the collision detection unit of each of the first encoding circuits in the plurality of first encoding circuits collides, each of the first encoding circuits outputs a fixed and different voltage value.
Optionally, the collision detection unit for determining the collision according to the second voltage value includes:
assigning a unique identifier to each of said first encoding circuits;
recording the corresponding relation between the resistance value of the voltage division unit of each first coding circuit and the unique identifier of the first coding circuit;
combining first voltage values of output voltages when the first coding circuits detect collision according to the resistance values of the voltage division units of the first coding circuits to obtain a plurality of third voltage values; recording the unique identifier of the first coding circuit corresponding to each third voltage value;
searching the third voltage value equal to the second voltage value to obtain a fourth voltage value;
and acquiring the unique identifier of the first coding circuit corresponding to the fourth voltage value.
In the embodiment, the detection of a single analog-to-digital conversion interface on multiple collision rubber strips is realized in a circuit coding mode, and the collision rubber strip can be accurately positioned to collide; when a plurality of collision rubber strips are deployed, only one analog-to-digital conversion interface needs to be deployed, so that the equipment cost is reduced.
In the embodiment, whether the interface is loosened or not is judged by detecting whether the corresponding relation between the symbolic link and the equipment file is changed or not, the problem of interface looseness can be found in time, and a user is reminded to maintain the loosened interface, so that the maintainability of the unmanned system is improved.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a collision sensing program is stored on the computer-readable storage medium, and when executed by a processor, the collision sensing program implements the following operations:
the collision detection unit is connected with the voltage division unit to form a first coding circuit; outputting a voltage of a first voltage value when the first encoding circuit detects a collision;
the first coding circuits are connected in parallel to form a second coding circuit;
detecting the voltage of the second coding circuit to obtain a second voltage value;
and when the second voltage value is larger than the threshold value, determining a collision detection unit which collides according to the second voltage value.
Optionally, each of the voltage dividing units in the plurality of first encoding circuits has a fixed and different resistance value.
Optionally, after the collision detection unit of each of the first encoding circuits in the plurality of first encoding circuits collides, each of the first encoding circuits outputs a fixed and different voltage value.
Optionally, the collision detection unit for determining the collision according to the second voltage value includes:
assigning a unique identifier to each of said first encoding circuits;
recording the corresponding relation between the resistance value of the voltage division unit of each first coding circuit and the unique identifier of the first coding circuit;
combining first voltage values of output voltages when the first coding circuits detect collision according to the resistance values of the voltage division units of the first coding circuits to obtain a plurality of third voltage values; recording the unique identifier of the first coding circuit corresponding to each third voltage value;
searching the third voltage value equal to the second voltage value to obtain a fourth voltage value;
and acquiring the unique identifier of the first coding circuit corresponding to the fourth voltage value.
In the embodiment, the detection of multiple collision rubber strips by a single analog-to-digital conversion interface is realized in a circuit coding mode, and the collision rubber strip can be accurately positioned to collide; when a plurality of collision rubber strips are deployed, only one analog-to-digital conversion interface needs to be deployed, so that the equipment cost is reduced.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a controller, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A collision sensing apparatus, characterized in that the apparatus comprises: the collision detection unit, the voltage division unit and the position judgment unit;
the collision detection units are used for detecting whether collision occurs or not and outputting a first voltage after the collision is detected;
the voltage division units are used for dividing the first voltage and outputting a divided second voltage;
the collision detection unit is connected with the voltage division unit to form a first coding circuit;
the first coding circuits are connected in parallel to form a second coding circuit;
the position judging unit is connected with the second coding circuit, detects the voltage value of the third voltage output by the second coding circuit, and determines a collision detecting unit which collides according to the voltage value of the third voltage.
2. The apparatus of claim 1, wherein the collision detecting unit comprises: a switch module;
the switch module includes: the circuit comprises a comparator, a first resistor, a second resistor and a third resistor; the first resistor and the second resistor are connected into a negative phase end of the comparator in parallel, the third resistor and the second contact bar are connected into a positive phase end of the comparator in parallel, a negative electrode of the comparator is connected with a positive electrode of a first power supply, a positive electrode of the comparator is grounded, and an output end of the comparator is connected with the voltage division unit;
the other end of the first resistor is connected with the anode of a second power supply, the first contact bar is connected with the anode of the second power supply, the other end of the second resistor is grounded, and the other end of the third resistor is grounded;
and when the input voltage of the positive phase end of the comparator is smaller than the input voltage of the negative phase end, the output end of the comparator outputs a low level.
3. The apparatus of claim 1, wherein each of the voltage dividing units in the first encoding circuits has a fixed and different resistance value.
4. The apparatus of claim 3, wherein each of the first encoding circuits outputs a fixed and different voltage value after the collision detection unit of each of the first encoding circuits collides.
5. A method of collision perception, the method comprising:
the collision detection unit is connected with the voltage division unit to form a first coding circuit; outputting a voltage of a first voltage value when the first encoding circuit detects a collision;
the first coding circuits are connected in parallel to form a second coding circuit;
detecting the voltage of the second coding circuit to obtain a second voltage value;
and when the second voltage value is larger than a threshold value, determining a collision detection unit with collision according to the second voltage value.
6. The method of claim 5, wherein each of the voltage dividing units in the first encoding circuits has a fixed and different resistance value.
7. The method of claim 6, wherein each of the first encoding circuits outputs a fixed and different voltage value after the collision detection unit of each of the first encoding circuits collides.
8. The method according to claim 7, wherein the step of determining the collision detection unit according to the second voltage value comprises the steps of:
assigning a unique identifier to each of said first encoding circuits;
recording the corresponding relation between the resistance value of the voltage division unit of each first coding circuit and the unique identifier of the first coding circuit;
combining first voltage values of output voltages when the first coding circuits detect collision according to the resistance values of the voltage division units of the first coding circuits to obtain a plurality of third voltage values; recording the unique identifier of the first coding circuit corresponding to each third voltage value;
searching the third voltage value equal to the second voltage value to obtain a fourth voltage value;
and acquiring the unique identifier of the first coding circuit corresponding to the fourth voltage value.
9. A vehicle, characterized in that it comprises: memory, a processor and a collision-aware program stored on the memory and executable on the processor, the collision-aware program being configured to implement the steps of the collision-aware method according to any one of claims 5 to 8.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the collision perception method according to any one of claims 5 to 8.
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| CN2022101886739 | 2022-02-28 | ||
| CN202210188673 | 2022-02-28 |
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