CN203332109U - Vehicle running state forecasting device - Google Patents

Abstract

The utility model belongs to the technical field of vehicle running state detection and discloses a vehicle running state forecasting device. The vehicle running state forecasting device comprises a main control unit. The main control unit is connected with an accelerator pedal position sensor, a brake pedal stroke sensor, a steering wheel turning angle sensor, an angular velocity sensor and a vehicle speed sensor, and the angular velocity sensor is a heading angle velocity sensor or an inertia sensor. The vehicle running state forecasting device has the advantages of being simple in structure, high in reliability and capable of providing reliable data resources for a vehicle auxiliary pre-warning system.

Description

A kind of vehicle running state distant warning device

Technical field

The utility model belongs to vehicle running state detection technique field, particularly a kind of vehicle running state distant warning device.

Background technology

Vehicle running state is that driver's operation is handled embodying the most intuitively of output, the detection of vehicle running state not only can provide safeguard for the reliability Work of vehicle-mounted forewarn system, and driving behavior that can be bad to chaufeur revises timely and effectively, thus the safe in operation of support vehicles.Yet vehicle is subject to external environment condition and self drives Under Tendency Influence in the actual travel process, the motion process of vehicle is very complicated, has increased the advance notice difficulty of vehicle running state.

The utility model content

The purpose of this utility model is to propose a kind of vehicle running state distant warning device.The utility model is simple in structure, and reliability is high, can provide the failure-free Data Source for vehicle-mounted auxiliary forewarn system.

For realizing above-mentioned technical purpose, the utility model adopts following technical scheme to be achieved.

A kind of vehicle running state distant warning device, comprise main control unit, and described main control unit connects respectively accelerator pedal position sensor, brake-pedal-travel sensor, steering wheel angle sensor, angular velocity sensor and car speed sensor; Described angular velocity sensor is yaw-rate sensor or inertia sensor.

Characteristics of the present utility model and further the improvement are:

Described main control unit is micro controller system or vehicle-mounted computer.

Described accelerator pedal position sensor is for detection of accelerator pedal position, and for accelerator pedal position information is sent to main control unit; Described brake-pedal-travel sensor is for detection of brake pedal position, and for brake pedal position information is sent to main control unit; Described steering wheel angle sensor is used for direction of measurement dish corner, and for steering wheel angle information is sent to main control unit;

Described car speed sensor is used for measuring the speed of a motor vehicle, and for the speed of a motor vehicle is sent to main control unit; Described angular velocity sensor is used for the yaw velocity of measuring vehicle, and is sent to main control unit for the yaw velocity by vehicle.

Described main control unit is for obtaining accelerator pedal position information, brake pedal position information and the steering wheel angle information of T in second; For accelerator pedal position information, brake pedal position information and the steering wheel angle information according to getting, calculate the Vehicle Speed estimated valve of T in second and the yaw velocity estimated valve of the vehicle of T in second;

Described main control unit is for obtaining the speed of a motor vehicle in T second and the yaw velocity of vehicle; For the Vehicle Speed estimated valve in second and the speed of a motor vehicle of T in second according to T, draw the next T speed of a motor vehicle of second; For the yaw velocity estimated valve of the vehicle in second and the yaw velocity of the vehicle of T in second according to T, draw next T second the yaw velocity of vehicle, 0<T≤2.

Described car speed sensor is positioned on wheel.

The beneficial effects of the utility model are: the utility model is simple in structure, and reliability is high, can provide the failure-free Data Source for vehicle-mounted auxiliary forewarn system.

The accompanying drawing explanation

The electrical block diagram that Fig. 1 is a kind of vehicle running state distant warning device.

The specific embodiment

Below in conjunction with accompanying drawing, the utility model is described in further detail:

With reference to Fig. 1, it is a kind of electrical block diagram of vehicle running state distant warning device.Main control unit connects respectively accelerator pedal position sensor, brake-pedal-travel sensor, steering wheel angle sensor, angular velocity sensor and car speed sensor.Wherein, main control unit adopts micro controller system, and angular velocity sensor adopts the inertia sensor.

Car speed sensor is arranged on wheel, and its model is HuaXiaMag-JM08-TZ, and this sensor adopts noncontacting switch, stable performance, and long service life, repetitive positioning accuracy is high, the machinery-free wearing and tearing, no spark, noiselessness, vibration resistance are strong.In the utility model embodiment, car speed sensor is sent to micro controller system by the speed of a motor vehicle detected.The inertia sensor adopts MARCEL-01 inertia sensor, and the inertia sensor is sent to micro controller system by the yaw velocity of the vehicle that detects.The model of accelerator pedal position sensor (being arranged on Das Gaspedal) and brake-pedal-travel sensor (being arranged on brake pedal) is JTC, both measure respectively accelerator pedal position and brake pedal position, and above-mentioned accelerator pedal position and brake pedal position are sent to micro controller system.The model of steering wheel angle sensor is ZLS-Pb, and steering wheel angle sensor is sent to micro controller system by the steering wheel angle detected.In the utility model embodiment, micro controller system adopts the stc12c5628 micro controller system, this micro controller system is mainly based on 8051 kernels, it is Strong MCU of new generation, the fully compatible tradition 8051 of command code, fast 8～12 times than traditional 8051 micro controller systems of speed, with ADC, 4 road PWM and two serial ports, encryption is good, and disturbance rejection is strong.Micro controller system is processed receiving data message, finally calculates next speed of a motor vehicle and yaw velocity constantly of vehicle.

In the utility model embodiment, utilize the service data of accelerator pedal position sensor, brake-pedal-travel sensor and steering wheel angle sensor Real-time Obtaining chaufeur, these data messages are sent in micro controller system in time, determined the driver's operation sequence in micro controller system; Determine vehicle running state at the corresponding relation according between driver's operation sequence and vehicle running state; Specifically, accelerator pedal position sensor, brake-pedal-travel sensor and steering wheel angle sensor gather respectively accelerator pedal position, brake pedal position and steering wheel angle, micro controller system according to T in second (T refers to the T second before current time in second) accelerator pedal position, brake pedal position and steering wheel angle received determine the sequence of operation of chaufeur.Preferably, T gets 1.5.In the utility model embodiment, driving behavior is divided into to 15 kinds of states, step on fast brake pedal, normally step on brake pedal, loosen the brake, brake pedal position keeps, brake pedal is without operation, normal release the gas pedal, quick release the gas pedal, bend the throttle, accelerator pedal position keeps, bearing circle fast turns left, quick turning clockwise bearing circle, bearing circle normally turns left, normal turning clockwise bearing circle, bearing circle keeps without operation and steering wheel angle, then above-mentioned state is numbered, numeral order is 1 to 15 successively, micro controller system is receiving the accelerator pedal position of T in second, after brake pedal position and steering wheel angle, with above-mentioned driving behavior 15 in state compare, determine the sequence of operation of chaufeur according to the similarity degree of comparison.In the utility model embodiment, in micro controller system, be preset with the state of driving behavior and the corresponding relation of vehicle running state (yaw velocity that mainly refers to the speed of a motor vehicle and vehicle), according to the sequence of operation and this corresponding relation of chaufeur, calculate the Vehicle Speed estimated valve V of T in second _estimationvehicular yaw cireular frequency estimated valve w with T in second _estimation.

In the utility model embodiment, utilize car speed sensor Real-time Collection speed information, the yaw velocity information of inertia sensor Real-time Collection vehicle is sent into speed information and yaw velocity information in micro controller system simultaneously.Specifically, the speed of a motor vehicle of T in second that car speed sensor collects is V _real, the Vehicular yaw cireular frequency of T in second that the inertia sensor collects is w _real, the vehicle velocity V of next T second (next T second refer to the T second that current time is later) is

V=aV _estimation+bV _real （1）

In formula (1), a and b are respectively the first weight and the second weight, and the sequence of operation of establishing in T second (referring to that from current time 2T second is to T second before current time) chaufeur is matrix X; The speed of a motor vehicle of a upper T in second of utilizing car speed sensor to measure, the yaw velocity of the vehicle of a upper T in second that utilizes the inertia sensor measurement to obtain, the yaw velocity of the speed of a motor vehicle according to a upper T in second and the vehicle of a upper T in second draws the vehicle running state sequence of a upper T in second, and now establishing the vehicle running state sequence of a T in second is matrix

matrix and matrix

between transformed matrix be K; A and b determine according to following formula:

$a=\frac{K\stackrel{\&OverBar;}{X}\&CenterDot;\stackrel{\&OverBar;}{Y}}{\left|K\stackrel{\&OverBar;}{X}\right|\left|\stackrel{\&OverBar;}{Y}\right|}$

（2）

b=1-a

（3）

By in formula (2) and formula (3) substitution formula (1), can draw the next T vehicle velocity V of second.

Same, the yaw velocity w=aw of the vehicle of next T second (next T second refer to the T second that current time is later) _estimation+ bw _real.

The utility model has taken into full account the one-to-one relationship of state and the vehicle running state of driving behavior, (for example can utilize true measurement, car speed sensor measures the speed of a motor vehicle, the inertia sensor measurement obtains the yaw velocity of vehicle) estimated result is constantly updated and (for example revised, a and b constantly change), the utility model can be predicted the motoring condition of vehicle comparatively exactly, for the work of vehicle-mounted early warning ancillary system provides safeguard.

Obviously, those skilled in the art can carry out various changes and modification and not break away from spirit and scope of the present utility model the utility model.Like this, if within of the present utility model these are revised and modification belongs to the scope of the utility model claim and equivalent technologies thereof, the utility model also is intended to comprise these changes and modification interior.

Claims (5)

1. a vehicle running state distant warning device, comprise main control unit, it is characterized in that, described main control unit connects respectively accelerator pedal position sensor, brake-pedal-travel sensor, steering wheel angle sensor, angular velocity sensor and car speed sensor; Described angular velocity sensor is yaw-rate sensor or inertia sensor.

2. a kind of vehicle running state distant warning device as claimed in claim 1, is characterized in that, described main control unit is micro controller system or vehicle-mounted computer.

3. a kind of vehicle running state distant warning device as claimed in claim 1, is characterized in that, described accelerator pedal position sensor is for detection of accelerator pedal position, and for accelerator pedal position information is sent to main control unit; Described brake-pedal-travel sensor is for detection of brake pedal position, and for brake pedal position information is sent to main control unit; Described steering wheel angle sensor is used for direction of measurement dish corner, and for steering wheel angle information is sent to main control unit;

Described car speed sensor is used for measuring the speed of a motor vehicle, and for the speed of a motor vehicle is sent to main control unit; Described angular velocity sensor is used for the yaw velocity of measuring vehicle, and is sent to main control unit for the yaw velocity by vehicle.

4. a kind of vehicle running state distant warning device as claimed in claim 3, is characterized in that, described main control unit is for obtaining accelerator pedal position information, brake pedal position information and the steering wheel angle information of T in second; For accelerator pedal position information, brake pedal position information and the steering wheel angle information according to getting, calculate the Vehicle Speed estimated valve of T in second and the yaw velocity estimated valve of the vehicle of T in second;

Described main control unit is for obtaining the speed of a motor vehicle in T second and the yaw velocity of vehicle; For the Vehicle Speed estimated valve in second and the speed of a motor vehicle of T in second according to T, draw the next T speed of a motor vehicle of second; For the yaw velocity estimated valve of the vehicle in second and the yaw velocity of the vehicle of T in second according to T, draw next T second the yaw velocity of vehicle, 0<T≤2.

5. a kind of vehicle running state distant warning device as claimed in claim 1, is characterized in that, described car speed sensor is positioned on wheel.

Images