CN204472786U - Based on self-propelled vehicle automatic cruising system during traffic congestion - Google Patents
Based on self-propelled vehicle automatic cruising system during traffic congestion Download PDFInfo
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- CN204472786U CN204472786U CN201520148338.1U CN201520148338U CN204472786U CN 204472786 U CN204472786 U CN 204472786U CN 201520148338 U CN201520148338 U CN 201520148338U CN 204472786 U CN204472786 U CN 204472786U
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Abstract
The utility model relates to and a kind ofly comprises micro controller system master control unit, voice module based on self-propelled vehicle automatic cruising system during traffic congestion, road conditions detection module, power circuit, driver module, and temperature/voltage detects and protective circuit module; Other whole model calling of the mouth of described micro controller system and input end and described system, the signal of each module of described micro controller system master control unit data acquisition and controlling; Described power circuit output end is connected with other whole modules of described system; The mouth of described driver module detects with temperature/voltage and is connected with protective circuit module.The utility model mounting design and upgrading flexibly, good stability, when can be applicable to long-time traffic congestion, self-propelled vehicle slowly advances, what chaufeur need not repeat touches on the brake, throttle, the driving intensity of chaufeur can be alleviated, improve driving safety coefficient, effectively can also control energy consumption.Especially for beginner, can prevent unforeseen circumstances to touch on the brake the situation of wrong step on the gas.
Description
Technical field
The utility model relates to automotive field, particularly relates to based on self-propelled vehicle automatic cruising system during traffic congestion.
Background technology
Present China automobile volume of holding constantly increases, city road planning relatively lags behind again with development, cause traffic congestion traffic congestion phenomenon more and more frequent, often see peak load conditions on and off duty traffic congestion several hour, especially the high speed of Holiday exempts from the time-consuming section of queues of stationary traffic of tens kilometers especially.During vehicle congestion, great trouble is caused to chaufeur, need to control vehicle and slowly advance, start frequently and braking, usually just need chaufeur to touch on the brake frequently and throttle, careless slightlyly with other vehicle collisions or rear-end collision will occur; And the longer traffic congestion time also can make chaufeur neurolysis, mood is irritated, greatly increases the generation of traffic accident.
At present domestic also do not have special in for self-propelled vehicle automatic cruising device patented invention during congestion in road, all there is certain limitation in the similar automatic Pilot technology of other functions, equipment cost is high, is also unfavorable for promoting, principle is loaded down with trivial details, use in all produce communication fee; Major part imperfection on automatic Pilot and phonetic function on the other hand, out of reach expection location, assistance effect.
The driving intensity of slowly advancing when can alleviate chaufeur traffic congestion when traffic congestion, to reduce labour intensity and the degree of fatigue of navigating mate, the collision that may cause when reducing vehicle congestion or rear-end collision, while the enjoyment experiencing automatic cruising, improve driving safety coefficient is extremely urgent thing.
Summary of the invention
The purpose of this utility model is that providing a kind of solves prior art Problems existing based on self-propelled vehicle automatic cruising system during traffic congestion.
In order to realize above-mentioned object, adopting following technical scheme: a kind of based on self-propelled vehicle automatic cruising system during traffic congestion, comprising micro controller system master control unit, voice module, road conditions detection module, power circuit, driver module, temperature/voltage detects and protective circuit module; Other whole model calling of the mouth of described micro controller system and input end and described system, described micro controller system master control unit is responsible for the data acquisition and controlling of the signal of each module; Described power circuit output end is connected with other whole modules of described system; The mouth of described driver module detects with temperature/voltage and is connected with protective circuit module.
Further, described road conditions detection module is made up of ultrasonic transduter and servomotor, and described ultrasonic transduter is arranged in the rotating shaft of servomotor, and the headstock that described servomotor is arranged on self-propelled vehicle is connected with Single-chip Controlling end; Described ultrasonic transduter has 4 ports, be feeder ear, super sonic trigger control end, super sonic response signal receiving end and Power Ground end respectively, described super sonic trigger control end is connected with the input end of micro controller system, super sonic response signal receiving end is connected with the mouth of micro controller system.
Further, described driver module is motor car engine and direction steering wheel driver module, and the signal of described driver module is sent by Single-chip Controlling, adopts the speed governing of PWN waveform, and control DC machine is accelerated, slows down, brakes, turns, detours or promptly kept away and moves back.
Further, described servomotor adopts the microelectromechanicdetection detection structure of three line controls, described three lines are power supply side, control end and Power Ground end, described microelectromechanicdetection detection structure comprises micro dc motor, gear teeth wheels, adjustable potentiometer, Drive and Control Circuit, and closed loop connects and feedback successively; The control data line of described Drive and Control Circuit is connected with micro controller system.
Further, described micro controller system master control unit adopts PMC232-S16 micro controller system packaging pin, is provided with 16 pins.Comprise 7 mouths, 7 input ends, a ground connection and a power supply.In input end, 5 is 2.4G radio communication control data receiving port, and one is ultrasound signal receipt end for voltage protection detects input end and one; In mouth, one is servomotor direction controlling drive singal, one is connect ultrasonic wave module trigging control, and one is connect Voice command serial data to export, and one is that sending and receiving motivation rotates forward control signal, one is engine inversion control signal, and two is connect motor driver signals.
Further, described servomotor contains the direct impulse signal that the cycle is 20ms, and described impulse singla high level time is 0.5ms-2.5ms, and control rotational angle and the sensor instrument distance direction of servomotor, described direction scope is-90 ° to+90 °.
Also have current progress of research based on energy-conservation with the consideration of environmental protection, the utility model is battery-driven car series for vehicle, and fuel vehicle is inapplicable, needs machine for casing-in or applying cover to book electric installation and air control unit again.
Compared with prior art, the embedded design scheme that the utility model adopts hardware and software to combine, mounting design and upgrading are flexibly, system stability is good, self-propelled vehicle when can be applicable to long traffic congestion slowly advances, and alleviates the driving intensity of chaufeur, effectively can also control energy consumption.Road condition detection system adopts the micro electronmechanical unitized construction of ultrasonic transduter and servomotor, and realize single group of equipment and just can detect all directions real-time road and judge, accuracy be higher and cost is low, is conducive to popularizing.Adopt the sound prompt function of hommization, interactive voice content constantly can be expanded according to project demand, and upgrading is convenient.The various situations such as what the design synthesis of master control system software program may occur when considering traffic congestion knocks into the back, violation lane change, adopt the algorithm compared with science and Logic judgment, improve driving safety coefficient.Adopt assembly language when main program and engine drive program and Serve Motor Control, facilitate data call addressing, take that resource is few, execution efficiency is high; And road conditions detection, voice message etc. need complex logic to judge and cycle control program module mini-c language design in system, improve development efficiency, programmed readability is good and amendment is convenient.The various situations such as what the design synthesis of master control system software program may occur when considering traffic congestion knocks into the back, violation lane change, adopt the algorithm compared with science and Logic judgment, improve driving safety coefficient.Can also when traffic congestion is improved automatic-prompting the function of deactivation system.
The utility model can automatically with car, automatically car brakeing is controlled in safety distance, when vehicle congestion slowly moves ahead, if have non-power-driven vehicle or pedestrian when vehicle front is walked, as long as sensor has detected that people or object can stop and sending prompting at once, extraordinary circumstances also promptly can be kept away and be moved back, to eliminate vehicle because inertia moves ahead to the issuable collision of the people in front, the safety of bondsman so to greatest extent, improve driving safety coefficient, what chaufeur need not repeat touches on the brake, throttle, also reduces driving fatigue intensity.Especially for beginner, can prevent unforeseen circumstances to touch on the brake the situation of wrong step on the gas.
Accompanying drawing explanation
Fig. 1 is design plan block diagram;
Fig. 2 is the arrangement of PMC232-S16 micro controller system packaging pin;
Fig. 3 is road conditions detection module micro electromechanical structure figure, wherein 1-Direct Current Motor, 2-train of reduction gears, 3-ultrasonic transduter, 4-Ultrasonic Sensor Data line, the rotating shaft of 5-servomotor, 6-adjustable potentiometer, 7-Drive and Control Circuit, 8-Serve Motor Control data line;
Fig. 4 is Serve Motor Control process;
Fig. 5 is system applicating flow chart.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, the utility model is described in further detail.
Specific embodiment 1
Based on self-propelled vehicle automatic cruising system during traffic congestion, Intelligent Single-Chip Based controls, and adopts the embedded design scheme that hardware and software combines.
As shown in Figure 1, hardware design comprises micro controller system master control unit, voice module, road conditions detection module, power circuit, driver module, and temperature/voltage detects and protective circuit module.Other whole model calling of the mouth of micro controller system and input end and described system, are responsible for the data acquisition and controlling of the signal to each module by micro controller system master control unit.Power circuit output end is connected with other whole modules of system; The mouth of driver module detects with temperature/voltage and is connected with protective circuit module.Power circuit provides voltage to be each module for power supply of system at the 5 road burning voltages of 5-24V, wherein micro controller system master control unit, road conditions detection module and voice module power supply voltage 5V, the power amplifier power supply voltage that sound is play is 9-12V, engine drive module for power supply voltage is 7.2-24V, can carry out pressure regulation according to different model driving engine.Temperature/voltage detects with protective circuit except 5V powers, and sending and receiving motivation power end detects voltage and temperature, when overvoltage or high temperature appear in driving engine, sends super pressure-high temperature detection signal to micro controller system, and Single-chip Controlling driving engine suspends with proterctive equipment.
The software system of part of module and self-propelled vehicle automatic cruising system specifically describe as follows:
(1) micro controller system master control unit.System micro controller system adopts PMC232 serial band 12 ADC double-cores 8 micro controller systems, this chip adopts FPPA technology, configuration 2K × 16bits OTP program store, 160Bytes data memory, the stack depth of elastification can program setting, direct, the indirect addressing mode of data and instruction are provided, all data memoryes all can work as data pointer, and independently IO address and memory address, facilitate program development.
PMC232-S16 micro controller system packaging pin arrangement as shown in Figure 2, comprises 16 pins, wherein 7 mouths, 7 input ends, a ground connection and power supplies.Pin 5 and pin 12 are ground connection and power supply respectively, power supply voltage 3.3V, and other pins are divided into input and output two kinds of functions:
Input end function is distributed: pin 1 (PC0) connects SS, pin 2 (PB0 meets CLK), pin 3 (PB1 meets MOSI), pin 4 (PB2 meets MISO), these 5 ports of pin 6 (PB3 meets RST) as 2.4G communication data receiving port (being reserved as WIFI controlled in wireless port).Pin 9 (PA0 meets LVD) detects input end as voltage protection.Pin 11 (PA3) is as super sonic response signal receiving end ECHO.
Mouth function is distributed: pin 7 (PB4 meets DJ1) is as servomotor direction controlling drive singal.Pin 8 (PB5) meets ultrasonic wave module trigging control TRIG.Pin 10 (PA5) connects Voice command serial data and exports UART.Pin 13 (PA6) sending and receiving motivation rotates forward control signal F.Pin 15 (PA4) engine inversion control signal B.Pin 14 (PA7) and pin 16 (PC5) sending and receiving motivation motor driver signals OUT1, OUT2.
The data acquisition and controlling of the signal of each module of master control system primary responsibility, also comprises driving engine and turns to drived control and voltage temperature protecting control etc., and one-chip machine port I/O distributes as shown in table 1.
Table 1 one-chip machine port I/O distributes
(2) driver module.The driver module of system is motor car engine and direction steering wheel driver module.Select electronlmobil model, motor driver signals is sent by Single-chip Controlling, adopts PWN speed governing, controls DC motor speed, and the real-time road control motor based on sensor detection accelerates, slows down, brakes, turns, detours or promptly keeps away and moves back; Front-wheel direction controlling selects 3 line control micro servo motors, realizes direction controlling at any angle.
(3) road conditions detection module.Road conditions detection module mainly selects the micro electronmechanical monitoring of structures adopting ultrasonic transduter and servomotor, to realize the road conditions that single group sensor just can monitor multiple directions, and keeps sensor detection side to consistent with front-wheel hand of rotation.Servomotor, by Single-chip Controlling, can adjust sensor orientation automatically.Ultrasonic transduter is arranged in the rotating shaft of servomotor, have 4 ports, pin 1 is feeder ear V+, pin 2 is super sonic trigger control end TRIG, pin 3 is super sonic response signal receiving end ECHO, pin 4 is Power Grounds, and wherein pin 2 and pin 3 connect the input and output side of micro controller system.The headstock that servomotor is arranged on self-propelled vehicle is connected with Single-chip Controlling end end DJ1,
A. supersonic sounding principle and circuit layout.Super sonic road condition monitoring module hardware working process is as follows: the square wave being produced 40KHz by micro controller system, through integrated transporting discharging Direct driver, nurses one's health 40KHz frequency signal, makes ultrasonic transduter produce resonance.This signal is reflected by the object and is received by Receiver, and sensor assembly sends a high level to single-chip I/O mouth, and the time T that high level continues is exactly that super sonic is from being transmitted into the time returned.This control vehicle and leading vehicle distance are: D=(T × 340)/2, and the numerical value of micro controller system judging distance D also calls advance, acceleration, brake or promptly keeps away control programs such as moving back.
B. Serve Motor Control sensor orientation.Select 3 line control micro servo motor adjustment sensor orientation, three pins are power supply side V, control end DJ and Power Ground end respectively.Module micro electromechanical structure is a closed loop feedback system as shown in Figure 3, comprises Direct Current Motor 1, train of reduction gears 2, adjustable potentiometer 6, Drive and Control Circuit 7, and closed loop connects successively.The Serve Motor Control data line 8 of Drive and Control Circuit 7 connects micro controller system; Adjustable potentiometer 6 is connected with servomotor rotating shaft 5, and servomotor rotating shaft 5 is connected with ultrasonic transduter 3, and the data line 4 of ultrasonic transduter connects micro controller system.Its control process as shown in Figure 4.Train of reduction gears is driven by motor, its mouth drives a linear ratio potential device to make position probing, this potential device is that a ratio-voltage feeds back to control circuit board corner coordinate transformation, it compares with the control wave inputted by control circuit board, produce and correct pulse, and CD-ROM drive motor is rotated forward or backwards, and the outgoing position of gear cluster is conformed to expectation value, order is corrected pulse and is tended to be 0, thus reaches and make the pinpoint object of servomotor.
(4) voice reminder interactive module.The functional module of interactive voice mainly selects the JQ6500MP3 chip supporting microcomputer series interface communication, and this chip adopts SOC scheme, and the aDSP of integrated 16 MCU and audio decoder adopts the mode of hard decoder, ensures stability and the tonequality of system.Except voice IC, sound signal is amplified and selects 8002 power discharging ICs, to guarantee volume.
Voice module connects the innovation data mouth UART of micro controller system, and voice module exports termination loud speaker and sounds (horsepower output 5W-10W, sound is volume about 50 decibels within the scope of 5 meters).
(5) software system.Software system SCM program adopts modular design, mainly comprises 5 parts: (1) main program initialization, comprises port definition and interrupt entrance arranging and engine temperature and overvoltage detection defence program etc.(2) road conditions trace routine, detect in real time and leading vehicle distance D according to sensor, according to the present road conditions of Distance Judgment be in block up, slowly current, turning lane change, pedestrian dodge or communicate smooth and easy several state, and call corresponding engine control procedures and course changing control program.(3) engine drive program, the signal of engine drive program is sent by Single-chip Controlling.(4) Serve Motor Control, the direct impulse signal that the cycle is 20ms is produced by timer, the high level time of signal is between 0.5ms-2.5ms, for controlling the rotational angle of servomotor, if following table 2 is as shown in the relation of the positive pulse width of 20ms recurrent pulses and electric machine rotation angle (output arm position), 1.5ms high level is pulsed corresponding rotational angle 0 °, the corresponding rotational angle-90 ° of 0.5ms, the corresponding rotational angle 90 ° of 2.5ms, the above proportionate relationship of other angle correspondences carries out programming.(5) voice reminder program, adopts asynchronous serial port communication mode, and received the order of micro controller system transmission by serial ports, communication standard 9600bps, data bit 8, check bit sum Flow Control is made as none, and form is as shown in table 3; Suggestion voice content is generated by synthetic technology and downloads in the FLASH of voice IC, and call for microcontroller serial port when system cloud gray model, voice content and calling data are as table 4.
Different from conventional one-piece machine, PMC232 micro controller system supports assembly language and mini-c language Hash program, so native system adopts assembly language when main program initialization, engine drive program kimonos electric machine control, facilitate data call addressing, take that resource is few, execution efficiency is high; And system road conditions trace routine, voice reminder program etc. need complex logic to judge and cycle control program module mini-c language design in system, improve development efficiency, programmed readability is good and amendment is convenient.
The positive pulse width of table 2 recurrent pulses and the output arm position relationship of micro-motor
Table 3 voice IC asynchronous serial port communication data format
The voice content synthesized in table 4 system and data form
Specific embodiment 2
The utility model according to the particularity of motor vehicle driving during traffic congestion, can possess the functions such as road conditions Real-Time Monitoring, collision prevention of vehicle and voice interface prompting, controlling functions as shown in Figure 5:
(1) start up system power supply, first has voice message cruise system to start, and whether micro controller system is started by Sensor monitoring front truck moves ahead.
(2) front truck has startup to move ahead, and system sends voice message chaufeur, and front truck traveling followed by control vehicle automatically.When blocking up appears again after travelling a segment distance in current vehicle, system prompt chaufeur also in safety distance inside brake, prevents from colliding with front truck.In 30 seconds, vehicle is not advanced, and send voice message congestion in road, driving engine is in idling mode, continues monitoring road conditions.
(3) when traffic congestion is slowly advanced, if having pedestrian or non-power-driven vehicle to walk from front suddenly, then system can be braked immediately even promptly to keep away to move back and be occurred with Accident prevention, and sends emergency safety prompting.
(4) occur turning or change lane when monitoring front truck, prompting chaufeur, judges whether with car by chaufeur according to actual conditions; If normal bend, chaufeur only need control bearing circle and turn, and system can follow front truck automatically; If front truck lane change in violation of rules and regulations, the changeable cruising condition of chaufeur, and travel according to normal traffic rule.
(5) vehicle condition is better, and during the longer and speed of the continuous running time of vehicle, system sends voice, and prompting is closed cruise system and driven by chaufeur oneself.
Above disclosedly be only the utility model preferred embodiment, certainly can not limit the interest field of the utility model with this, therefore according to the equivalent variations that the utility model claim is done, still belong to the scope that the utility model is contained.
Claims (7)
1. based on self-propelled vehicle automatic cruising system during traffic congestion, it is characterized in that, comprise micro controller system master control unit, voice module, road conditions detection module, power circuit, driver module, temperature/voltage detects and protective circuit module; Other whole model calling of the mouth of described micro controller system and input end and described system, the signal of each module of described micro controller system master control unit data acquisition and controlling; Described power circuit output end is connected with other whole modules of described system; The mouth of described driver module detects with temperature/voltage and is connected with protective circuit module.
2. cruise system according to claim 1, it is characterized in that, described road conditions detection module is made up of ultrasonic transduter and servomotor, described ultrasonic transduter is arranged in the rotating shaft of servomotor, the headstock that described servomotor is arranged on self-propelled vehicle is connected with Single-chip Controlling end, and the control end of described ultrasonic transduter is connected with the input end of micro controller system, signal receiving end is connected with the mouth of micro controller system.
3. cruise system according to claim 1, it is characterized in that, described driver module is motor car engine and direction steering wheel driver module, the signal of described driver module is sent by Single-chip Controlling, adopt the speed governing of PWN waveform, control DC machine is accelerated, slows down, brakes, turns, detours or is promptly kept away and moves back.
4. cruise system according to claim 2, it is characterized in that, described servomotor adopts the microelectromechanicdetection detection structure of three line controls, and described microelectromechanicdetection detection structure comprises micro dc motor, gear teeth wheels, adjustable potentiometer, Drive and Control Circuit, and closed loop connects and feedback successively; The control data line of described Drive and Control Circuit is connected with micro controller system.
5. the cruise system according to claim 1-4 arbitrary, is characterized in that, described micro controller system master control unit adopts PMC232-S16 micro controller system packaging pin, is provided with 16 pins.
6. cruise system according to claim 5, is characterized in that, described pin is provided with 7 mouths, 7 input ends, a ground connection and a power supply.
7. the cruise system according to claim 2 or 4, it is characterized in that, described servomotor contains the direct impulse signal that the cycle is 20ms, described impulse singla high level time is 0.5ms-2.5ms, control rotational angle and the sensor instrument distance direction of servomotor, described direction scope is-90 ° to+90 °.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108001449A (en) * | 2017-10-31 | 2018-05-08 | 上海与德科技有限公司 | A kind of drive manner and online vehicles based on car networking |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108001449A (en) * | 2017-10-31 | 2018-05-08 | 上海与德科技有限公司 | A kind of drive manner and online vehicles based on car networking |
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