CN2538638Y - Fully-automatic collision-proof driving apparatus for automobile - Google Patents

Abstract

An automobile anti-collision full-automatic driving instrument comprises an automobile speed detecting BCD code converter, a memory or a function generator, a correction unit, an ultrasonic distance detecting instrument, a comparator and a PD or PID control and state feedback controller. Wherein, the controller emits at least two negative PD state feedbacks and set value positive feedback circuits and control signals to an automobile accelerator and a brake electromagnetic actuator according to difference between a given automobile distance and an actually measured distance. The control signal is free from oscillation and overshoot and has quick response and strong robustness. Despite tens of thousands of times for the automobile or other object parameters, the driving instrument controls a distance between automobiles equal to a variable value along the automobile speed with constant control performance. Ultimately, the driving instrument prevents collision during automobile running or backing in fog. Logic control and a man-controlled priority switch are arranged to ensure ordered control and prior man control, steering and overtaking. The utility model is also suitable for control over other various high-precision objects.

Description

Full-automatic pilot for prevention of car collision

Technical field

The utility model relates to the vehicle drive instrument, particularly relates to the feedback of status closed loop control full-automatic pilot for prevention of car collision of the difference of given value and measured value.

Background technology

Up to now the various anti-collision techniques of automobile have: 1, take the various measures that alleviate the collision consequence after bumping, as air bag, bumper/spoiler etc.; 2, collision-proof alarm class, as: the patent No. is 97105850 the disclosed automobile collision avoidance radar of Chinese patent, and the patent No. is 90211840 the disclosed infrared laser anticollision device of Chinese patent etc.; 3, collision-proof alarm self-actuating brake class is that 92112911 the disclosed anti-collision enmergency braking device of Chinese patent, the patent No. are that 92229804 the disclosed automobile collision preventing warning of Chinese patent brake, the patent No. are disclosed automabile safety driving anti-striking fuzzy control unit of Chinese patent of 92200823 etc. as: the patent No.; 4, reversing collision-proof alarm is that 98233344 the disclosed reversing proximity warner of Chinese patent, the patent No. are 95202028 the disclosed reversing automobile collision avoidance radar of Chinese patent etc. as: the patent No..

Above-mentioned existing various anti-collision techniques all are that open loop is crashproof, do not have the closed loop control anti-collision technique at all, are not that address, reversing are that speed of a motor vehicle accident-free vehicle interval S is read from memory device or function generator in the address with the distance with the instant speed of a motor vehicle particularly _V, " given value " kS through revising _VWith super sonic actual measurement " following distance " S _X2' proportion differential PDII type, the proportion integration differentiation PIDIII type control of the difference Δ s feedback of status of holding concurrently automobile is had at least the full-automatic pilot for prevention of car collision of two close loop negative feedback controls.

The core that full-automatic pilot for prevention of car collision is sent out utility model is proportion differential PDII type system, the double state feedback controller of proportion integration differentiation PIDIII type system control, automobile speed governing dead-beat, non-overshoot, strong robustness ground Control of Automobile safe distance between vehicles is equaled the given safe distance between vehicles value of positive feed back that changes with the speed of a motor vehicle.The circle of whole world control at present all design and manufacture does not go out fast tracking, dead-beat, non-overshoot, strong robust controller and control system.So far whole world automatic guidance circle design linear system also all is subjected to the restriction of " neutrality open-loop gain " without any exception, be at a complete loss as to what to do and improve the closed loop system performance, therefore adopt which kind of method, how the performance of design system is all very low, and is promptly can not the design and manufacture open-loop gain high more, closed loop system is stable more, it is fast more to follow the tracks of, dead-beat, non-overshoot, controller and closed loop control system that robustness is strong more.Control to automobile safety distance definitely mustn't have vibration, overshoot is arranged, do not hang reverse gear because of the automobile that moves ahead and do not have car-backing function, so vibration and overshoot is major injury automobile component and reduce the life-span all, and be the tasteless loss of energy, not only speed is fast because of automobile again, inertia is big but also the inertial change of large-scale visitor, lorry is also very big, so control must possess fast-response, dead-beat, non-overshoot, not be afraid of load carrying ability and change strong robustness closed loop control system more than tens times to automobile.Therefore must fast-response, dead-beat, non-overshoot, be not afraid of the strong robustness controller of load carrying ability variation more than tens times, the present invention not only discloses sort controller, disclose also that the controll plant parameter changes more than 60,000 times and dead-beat, non-overshoot performance are constant fully, unit-step response response zero steady state error traverse time only differs tens milliseconds controller, can both accomplish above-mentioned performance-oriented closed loop control various 2 rank controlled object such as automobiles.

Summary of the invention

The purpose of this utility model is to provide a kind of full-automatic pilot for prevention of car collision.

A kind of full-automatic pilot for prevention of car collision is characterized in that comprising: speed of a motor vehicle detection binary-coded decimal conv, memory device or function generator and amending unit, apomecometer, comparator, controller contain adder, logic control switch, wind throttle and brake control electromagnetic actuator device, brake controller, maximum speed setter and comparator and alarm control display unit.Described speed of a motor vehicle detection binary-coded decimal conv obtains this car speed of a motor vehicle and is converted to binary-coded decimal delivers to memory device or function generator and amending unit; Described memory device or function generator and amending unit comprise a memory device or function generator and scale operation device at least, storage security spacing value in the described memory device, the function generator input speed of a motor vehicle output safety spacing or the input safe distance between vehicles output speed of a motor vehicle, the speed of a motor vehicle detects binary-coded decimal conv output binary-coded decimal as the address code of this Memory Storage Unit or the input of function generator, the safe distance between vehicles of memory device or function generator output send comparator to make the closed loop control system given value after the scale operation device is revised, constitute necessary given value positive feedback path, described function generator can be manufactured by hardware, but also software programming realizes; Described apomecometer adopts ultrasonic range finder, makes closed loop control system state amount of negative feedback in order to the actual spacing that obtains Ben Che and front and back car or obstacle and send comparator; Described comparator will be imported the safe distance between vehicles given value and compare computing with the actual spacing that input records, and output error is to controller, thereby formation given value positive feed back and output state inverse feedback are through the co-channel of controller to controll plant control; Described controller contains adder error is carried out PD or PID computing, and its result exports logic control switch respectively to wind throttle electromagnetic actuator device, brake electromagnetic actuator device and alarm control display unit; Described maximum speed setter and comparator comprise a maximum speed given circuit and a comparator, the maximum speed given circuit provides the restriction maximum speed and sets number or analog voltage, comparator compares maximum speed setting value and actual vehicle speed value, and the result is exported to logic control switch with the restriction maximum speed; Described logic control switch is carried out logic determines according to the given comparator output of positive and negative, the large and small and maximum speed control signal of controller output control signal, and the result provides the control of connecting and disconnecting to the control access of wind Throttle Opening Control electromagnetic actuator device; Logic control switch includes the people and controls preferential automatic transfer switch, is used at crashproof automatic steering and driver driving or turns to overtake other vehicles automaticallying switch between preferential.

The utility model effect:

The crashproof extensive autopilot automatic steering of the utility model car is to remove bearing circle, start gear shift, meet traffic lights and can not control outer crashproof full-automatic driving car, guarantee express highway, highway, the big and medium-sized cities loop, city highway safety dispatch driving, increase scientific and technological content and improve the grade to automobile, improve state-of-art to highway communication, science shortens safety " following distance ", increase express highway, the highway car capacity, greatly increase vehicle flowrate, improve express highway, highway degree of utilization and traffic potential, increase social benefit and economic benefit for country, the more important thing is avoids traffic accident takes place and safety, dispatch driving, ensure personal vehicle safety, fundamentally stop car collision, avoid foggy weather to collide, the traffic accident of car crash, and be forced to the generation of closing high-speed highway.

The utility model controller control system not only soon but also steady, dead-beat, non-overshoot, be suitable for the controll plant parameter variation range more than 60,000 times, the controll plant that the constant various high, precision and frontiers of the High Performance of control require.Be widely used in: large, medium and small, empty wagons, traction engine, electronlmobil, train, steamer, also be applicable to the control of the various controll plants of other all trades and professions, more suitable non-overshoot, not only fast but also surely, more accurate weaponry control.

Description of drawings

Fig. 1. principle diagram of block of the present utility model;

Fig. 2. the utility model principle square signal flow graph;

Fig. 3 (a). controller (1-1-10) Control of Automobile=1/S ²The unit-step response of accident-free vehicle spacing closed loop system;

Fig. 3 (b). controller (2-2-1) Control of Automobile=0.015/[S (S+0.1)] unit-step response of accident-free vehicle spacing closed loop system;

Fig. 3 (c). controller (2-2-1) Control of Automobile=1000/[S (S+0.1)] unit-step response of accident-free vehicle spacing closed loop system;

Fig. 4. full-automatic pilot for prevention of car collision automatic guidance automotive safety following distance system implementation example circuit diagram;

Fig. 5. supersonic range finder embodiment circuit diagram

The specific embodiment

The utility model full-automatic pilot for prevention of car collision referring to Fig. 2 by: 1.. the speed of a motor vehicle detects binary-coded decimal transfer device 19; 2.. memory device or function generator and revise given unit 0,1; 3.. ultrasonic range finder 20; 4.. given value kS _VWith following distance S _X2' feedback of status comparator 2; 5.. controller 3,4,5 contains adder 6; 6.. logic control switch k _CComprise that the people controls preferential automatic transfer switch; 7.. wind throttle, brake electromagnetic actuator device (8,7,13); 8.. maximum speed setter 11 and maximum speed comparator 9; 9.. alarm control display unit 14,15; 10.. charactron telltale 16,17,18 is formed.10 ' 10 is controll plant automobiles among Fig. 2.Wherein:

1.. it is electric signal v that described speed of a motor vehicle detection binary-coded decimal transfer device detects this car speed of a motor vehicle _X, and convert binary-coded decimal v to _XIt is address code that " accident-free vehicle spacing " memory storage is delivered in output.

2.. described safe distance between vehicles memory device or function generator and amending unit comprise a memory device and a multiplier or software programming multiplication routine at least, to memory device input v _XAddress code memory device output safety spacing S _V, multiply by coefficient k through correction, output kS _VDeliver to comparator 2 as " given value ", the both available integrated circuit memory of memory device, also available micro controller system internal memory.

Function generator: safe distance between vehicles S _VBe that automobile is in instant vehicle velocity V _XUnder when braking, by brake friction F effect slide maximum and guarantee not collide apart from S _V, vehicle velocity V _XSafety shut-down apart from S _XBetween basic function should be: S _X=(1/2MV _X ²)/F, adjustable correction in addition again, wherein M is a car mass.This function both available hardware is manufactured, but also computer software is realized.Hardware is manufactured with the squaring circuit multiplier and is promptly realized S _X=1/2V _X ², V wherein _XOtherwise for importing, also can.

3.. apomecometer adopts the ultrasonic ranging scheme: ultrasonic range finder is sent and reception control circuit by super sonic transmission and receptor, ultrasonic square-wave generator, monostable trigger, counting machine, comparator, gating circuit, 1-3 position decimal scale coding and decoding super sonic, and numerical control gain programming amplifier, temperature self-compensation instrumentation are apart from the ultrasonic range finder of forming range finding 150-200m towards generator circuit; Under monostable trigger, counting machine, comparator, gating circuit, the transmission of 1-3 position decimal scale coding and decoding super sonic are controlled with acceptor circuit, ultrasound transmitter device sends the decimal coded super sonic, reflection echo relatively send decimal scale decoding output control signal by ultrasonic receiver reception, amplification, comparator, promptly finish one measuring period time T, at the T counting machine of finding range in the time temperature self-compensation range finding impulse deviser is sent 2 divided pulses counting, count results promptly is the actual measurement spacing.

4.. given value kS _VWith feedback S _X2' both available software establishment subtraction program subtraction of comparator 2, also available analog or digital subtracter is done hardware comparator, subtraction program or subtracter subtraction, calculate Δ s=kS _V-S _X2', export Δ s to 3 ratio P, 4 integration I, 5 differential D, thus automobile is changed distance, delta S in very short time Δ t _X2' constitute at least 2 close loop negative feedback to automobile control loop and given value kS _VTo at least 2 positive feed back forward direction control of automobile path, STATE FEEDBACK CONTROL system architecture thereby closed loop PD, the PID of 2 pairs of automobiles of pie graph 10 ' 10 control is held concurrently;

5.. controller 3,4,5 contains adder 6: adder 6 outputs 6 '=3+4+5=(K _P+ K _DS+K _I/ s) Δ s, this is core invention of the present invention.Wherein:

One, non-overshoot, follow the tracks of 3 rank III type optimizer system and PID controllers soon

1. full-automatic pilot for prevention of car collision Control of Automobile accident-free vehicle spacing system is made into 3 rank III type Fig. 1, Fig. 2, Fig. 4 system: $\frac{K_{D}S+K_P+K_I\&times;1/\mathrm{<figure-callout\; id="2"\; label="S\; S"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">S</figure-callout>}}{S^{}}=\frac{a_0{\mathrm{\&omega;}}_{n}S+a_1{{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">n</figure-callout>}}}^2+a_2/\mathrm{<figure-callout\; id="2"\; label="S\; S"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">S</figure-callout>}}{S^{}}$ $\frac{2400{\mathrm{\&omega;}}_{n}S+16{\&times;10}^5{{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">n</figure-callout>}}}^2+{{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="3"\; label="n"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">n</figure-callout>}}}^3/\mathrm{<figure-callout\; id="2"\; label="S\; S"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">S</figure-callout>}}{S^{}}--------\left(1\right)$

To automobile or other any controll plant=1/S ²(0) must manufacture or PID controller that software programming realizes

=2400 ω _nS+16 * 10 ⁵ω _n ²+ ω _n ³/ S (1-0) is wherein: 1. ω _nAny real number of＞0, get maximum 100 〉=ω _nEnough use; 2. get ω _n=1 o'clock, $\frac{2400S+16{\&times;10}^5+1/\mathrm{<figure-callout\; id="2"\; label="S\; S"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">S</figure-callout>}}{S^{}}--------(1-1)$ The controller of manufacturing automobile (0) is:

6＝PID＝2400S+16×10 ⁵+1/S (1-1-1)

Controller output: 6 '=(2400S+16 * 10 ⁵+ 1/S) Δ s

The unit-step response of Control of Automobile accident-free vehicle spacing closed loop system (1-1) dynamic property is: overshoot σ=0, have no the vibration; Zero steady state error response time: t _S1=0.0065[s]; Because be III type system, so, can both automatically accomplish also to front truck that identical indifference is even and add or the tracking of even deceleration/decel, so fundamentally guarantee and to collide even front truck is done even adding or even deceleration/decel when travelling.The zero point of system (1-1): r _1.1=-666.6667, r _1.2=-0.0000; Limit p _1.1, p _1.2=-1200.0 ± 400.0i, p _1.3=-0.0000, wherein a pair of be approximately 0 zero, limit produces and offsets mutually, this is a quantitative change to qualitative change, promptly integral controller is had no effect to dynamic performance, just closed loop system is an III type system.The dynamic property of system depends on controller PD=K fully _DS+K _P=2400S+16 * 10 ⁵Control to automobile.PD=K _DS+K _P=a ₀ω _nS+a ₁ω _n ², the condition that satisfies dead-beat, no accent amount is a ₀/

〉=1.739 satisfy automobile or other 2 rank object=1/S ²The absolute dead-beat of closed loop control, the requirement of non-overshoot.

2. in (1), get ω _n=10, Fig. 1 at this moment, Fig. 2, Fig. 4 system are $\frac{24000S+16{\&times;10}^7+{10}^3/\mathrm{<figure-callout\; id="2"\; label="S\; S"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">S</figure-callout>}}{S^{}}--------(1-10)$ Manufacture automobile=1/S ²(0) controller is:

6＝PID＝24000S+16×10 ⁷+10 ³/S (1-1-10)

Controller output: 6 '=(24000S+16 * 10 ⁷+ 10 ³/ S) Δ s is at this moment by the automobile=1/S of controller (1-1-10) control ²The unit-step response of dynamic property of automobile following distance closed loop system shown in Fig. 3 (a): 1. overshoot σ=0, i.e. dead-beat, non-overshoot; 2. zero steady state error response time: t _S10=0.00065[s], i.e. fast response time t _S10Compare t _S1Accelerate 10 times again.The zero point of system (1-10): r _1.1=-6666.667, r _1.2=-0.0000; Limit p _1.1, p _1.2=-12000.0 ± 4000.0i, p _1.3=-0.0000, at this moment except that a pair of be 0 zero, limit offsets mutually, all the other two limit p _1.1, p _1.2The negative real part of=-12000.0 ± 4000.0i at the left half-plane of rhizoplane again all away from 10 times of the imaginary axis, therefore the stability of Fig. 1, Fig. 2, Fig. 4 system (1-10) improves 10 times again, at this moment the open-loop gain of Fig. 1, Fig. 2, Fig. 4 system increases 100 times, so the system of design and manufacture controller control is that open-loop gain is big more like this, closed loop system is stable more, and response time is fast more, sound attitude error is all more little, and control accuracy is high more.High like this open-loop gain can be manufactured with analogous circuit, but acquires a certain degree of difficulty, and realizes that with computer software such controller is easy to accomplish.In fact have only the control system of very high, precision and frontier requirement just to need so high open-loop gain, ω is got in control to automobile _n=1 fully has a surplus.

The architectural feature of Fig. 1, Fig. 2, Fig. 4 system is that well-known 2 rank systems have 2 state variables because automobile is 2 rank systems, and these 2 state variables are exactly to automobile output vehicle headway S _X2' ratio and differential, so to S _X2' necessary proportional and differential PD2 closure state backfeed loop, necessary architectural feature that Here it is, the PD controller is again on through path simultaneously, so closed loop control system structurally constitutes equating fully of " ring " and " road " again, because the controller performance of controller of the present invention is very strong, be because open-loop gain is very big, differential is arranged in pairs or groups proper again, even do not prevent, be that quick tracking performance is influenced so the actual differential replacement that " ring " not exclusively equates with " road " even desirable differential is manufactured with approximate analogous circuit (Fig. 4) all has.

Two, non-overshoot, follow the tracks of 2 rank II type optimizer system and PD controllers soon

1. full-automatic pilot for prevention of car collision Control of Automobile accident-free vehicle spacing system is made into 2 rank II type Fig. 2, Fig. 4 (removing integration) system: $\frac{2400S+16{\&times;10}^5}{{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">S</figure-callout>}}^2+2400S+16{\&times;10}^5}--------\left(2\right)$

2. to controll plant automobile=1/S ², (0)

Required controller PD=2400S+16 * 10 of manufacturing ⁵(2-1)

To automobile output controlling quantity 6 '=(2400S+16 * 10 ⁵) Δ s

3. to controll plant automobile=β/S ²(0 ')

Required controller PD=(2400S+16 * 10 of manufacturing ⁵)/β r at zero point ₂=-666.6667; Limit p ₂₁, p ₂₂=-1200.0 ± 400.0i.Its performance is: overshoot σ=0, have no the vibration; t _S=0.0065[s]; II type system when front truck travels as uniform velocity, can accomplish the tracking of indifference to front truck.The tracking that the even acceleration, deceleration degree of front truck work is travelled is to have difference to follow the tracks of, but because open-loop gain=16 * 10 ⁵Very big, so error is approximately 0.

Top controller (1-1-1) and (2-1) (1-1-10) be suitable for very much various compact cars and proud car speed control safety vehicle headway usefulness, be characterized in that dead-beat, non-overshoot, response time are very fast.When vehicle headway produced subtle change, controller just speed governing fast, brake deceleration was controlled safe vehicle headway=given value, fundamentally stops automobile and collides.

Three. dead-beat, non-overshoot, strong robust, PD controller

The strong robust control of the II type state feedback controller of holding concurrently:

PD＝K _P+K _DS

＝a ₁ω _n ²+a ₀ω _nS (2-2)

Work as ω _n=1, a ₀/

〉=14.66, a ₀=44000, satisfy automobile or other 2 rank object=β/S ², wherein β=0.015---1000 changes 66666.6 times and dead-beat, the non-overshoot performance is constant.At this moment the double state feedback controller of PD control:

＝44×10 ³S+9×10 ⁶ (2-2-1)

Controller (2-2-1) Control of Automobile (can be other any controll plant)=β/S ²(0 '), β=0.015---1000 wherein, the hold concurrently control result of state revertive control safety " following distance " system of the II type PD control when changing 66666.6 times: get respectively: β=0.015, β=1000 o'clock by the automotive safety following distance system of controller (2-2-1) control are: $\frac{0.015(44{\&times;10}^{3}S+9\&times;{10}^6)}{{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">S</figure-callout>}}^2+0.015(44\&times;{10}^{3}S+9{\&times;10}^6)}=\frac{660S+135000}{{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">S</figure-callout>}}^2+660S+135000}------\left(2.015\right)$ $\frac{1000({44\&times;10}^{3}S+9\&times;{10}^6)}{{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">S</figure-callout>}}^2+1000({44\&times;10}^{3}S+9{\&times;10}^6)}=\frac{{44\&times;10}^{6}S+{9\&times;10}^9}{{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="Y0223505100202.png,Y0223505100213.png"\; state="\{\{state\}\}">S</figure-callout>}}^2+{44\&times;10}^{6}S+{9\&times;10}^9}------\left(1000\right)$

The computer artificial result of its unit-step response is shown in Fig. 3 (b), 3 (c): dead-beat, non-overshoot; t _S0.015=0.018[s]---t _S1000=0.032[s], The above results proves: when automobile parameter β changed 66666.6 times, the result was constant for automobile High Performance dead-beat, non-overshoot, fast-response control, and just traverse time differs 14ms.

The motor omnibus and the lorry of any model of this invented controller may command, even controll plant is a 10000-ton class vessel, its variation range also is far smaller than 60,000 times.So controller (2-2-1) is not only controlled various automobiles, all fully have a surplus even control train, steamer etc.

Controller is exported 3 road control signals altogether: 1. alarm control display unit (14,15); 2. through logic control switch (k _C) control wind throttle electromagnetic actuator device (8), electromagnetic actuator device (8) is according to controller output control signal control wind accelerator open degree size to automobile governing speed Control of Automobile under steam or remain best given safe vehicle headway or vehicle speed in the reversing; 3. control brake electromagnetic actuator device (7,13) the brake deceleration control safety vehicle headway that goes out.

Mandatory declaration: 1. above-mentioned to provide all controllers of invention be not unique, has thousands upon thousands, can require according to difference, different object adopts various different parameters controllers.2. the used automotive subjects of the present invention is the double integrator link, this is to select situation serious and the most rambunctious for use, automobile is actual to be that first order inertial loop and single order integral element are in series, when inertia is very big, or adopt the local positive feedback compensation all will make it become the double integrator link to first order inertial loop.

Manufacturing of controller: hardware such as both available analogous circuit, numeral add, subtract, multiplication and division integrated circuit, resistance, cond is manufactured, also available microcomputer or micro controller system, microprocessor software are worked out the PD operation program and are realized PD computing and controllable function, and several different methods can both realize manufacturing of controller.

6.. logic control switch k _CLogic control switch k _CComprise (only in Fig. 4): J ₂Relay and contact J _2BT ₅With comparator 9; Comparator 7, aerotron T ₁And relay J ₁And contact J _1BBj ₃Comparator, T ₄And J ₃Relay and contact J _3K1J _3K2D.F ₁And T ₂Form logic control switch, above-mentioned all replace by aerotron and the little all available analog switch 4066 of relay contact switch of electrical current; General run of thins: k _C6 ' the control signal of sending into the amplification of 8 electric currents, wind Throttle Opening Control magnetic force actr is played connection and turn-offs control action: a.v _X〉=v _m, b.6 '＞0 and k when producing brake control signal _CTurn-off, otherwise k _CConnect k _CTurn-off and connect respectively by 9 ', 7 ' two control signal controls; Logic control switch k _CComprise that the people controls preferential automatic transfer switch by k ₁k ₂k ₃k ₄k ₅k ₆6 series connection normally closed switchs are formed, wherein k ₁k ₂k ₃k ₄4 concealed installations of series connection difference in twos are in wind oil and brake pedal plate boring, with k ₅Be connected into alternative with turn signal swich, k ₆Concealed installation is in clutch foot plate boring, and switch disconnects during foot-operated wherein arbitrary pedal, and steering indicating light is logical, k then ₅Disconnected, realize automatically all that the people is controlled preferential and turned to quicken to overtake other vehicles preferential control; When pin leaves pedal, k ₁k ₂k ₃k ₄k ₆Automatically play school power closure, turn signal swich k by resetting ₅Closure is connected crashproof extensive autopilot control access automatically, and the realization automatic steering is controlled safe vehicle headway.

7.. brake electromagnetic actuator device 7,13 and wind throttle electromagnetic actuator device 8; Aerotron galvo amplifier and magnetic force actuating unit are formed separately by 7 brake anti-blocking automatic control circuits and 8,13; 7 brake anti-blocking automatic control circuits are made up of square-wave generator, analog adder, comparator, gating circuit.When comparator, gating circuit were judged the palpus brake: k was turn-offed in output 7 '=" 0 " _COutput 7 '=" 0 " anti-lock square-wave generator starting of oscillation output square wave differential integration 6 ' in proportion send adder two input ends respectively, and adder output square wave and 6 ' stack amplifying signal send 13; 8,13 galvo amplifier parts: respectively by pliotron or a pair of complementary aerotron for example B647 and 2N3055 equipower aerotron and form compound control circuit with aerotron parallel connected in reverse phase earial drainage diode and constitute.Transistor collector or emitter one termination power one end, termination spiral coiled wire-wound coil in addition; 8,13 magnetic force actuating units respectively each by: spiral coiled wire-wound coil, hard plastic tube, magnet, good magnetizer tube or bucket, steel wire backguy 5 parts constitute.High strength enamelled wire spiral coiled wire-wound coil is on hard plastic tube, the coil one termination power other end, termination aerotron in addition, then coil aerotron power supply constitutes C/LOOP, transistor base is according to size of current in the control signal control coil 1, good magnetizer jacket casing is solid to be outer cover outside coil, hard plastic tube, main effect is to reduce magnetic resistance to increase magnetic flow, is equipped with in the hard plastic tube and movably magnetizes magnet, and magnet one end connects the steel wire backguy; Backguy is connected with wind throttle, brake pedal plate connecting rod respectively separately.As everyone knows, coil produces N, S utmost point electromagnetic field by DC current and is contained in the interior magnet of pipe and produces electromagnet pull, and pulling force is realized automatic speed regulation control safe distance between vehicles by backguy control wind accelerator open degree; Control brake coil 2 makes magnet produce the square wave vibration tension in brake pedal plate by square wave and 6 ' superimposed current, and 6 ' superimposed current control break vibration anti-lock brake dynamics is carried out sudden stop automatically when 6 ' signal is big;

8.. maximum speed setter 11 can provide the digital v of Maximum speed limit BCD with digital dial, 10 lines-4 line BCD priority encoder _m, send 18 to show, and send 9 to supply relatively usefulness of computer software program design comparison operation or digital comparator, give k with computing comparative result output control signal _CEasy easy driver operation be that 11 usefulness potential devices provide speed limit aanalogvoltage v _mSend 18 to show, and send analog comparator 9, comparative result output " 0 ", " 1 " control signal are given k _C

9.. maximum speed comparator 9 both can adopt the computer software program design comparison operation output control signal that subtracts, and also available digital circuit or the analog computing amplifier device of making comparisons is given k comparative result _C

10.. alarm control display unit 14,15 comprises: closed loop is out-of-limit: (1). the light warning; (2). report to the police; (3). heavily report to the police; (4). emergency alarm.Among Fig. 2, alerting signal is taken at given value kS _VPositive feed back and actual measurement vehicle headway S _X2' PD=6 '=Δ s (K of difference Δ s _DS+K _P) (Δ s resolution=1mm-10mm, can accomplish 0.1mm) be the best given kS of closed loop _VWith the composite signal of closed loop proportional, the degenerative control signal of differential, its microcosmic, the sensitiveest, the most scientifically react the running car situation, it has provided checks erroneous ideas at the outset, the prediction of foreseeing:

(1). once range finding as 6 ' 〉=0 o'clock reduce the air door warning of slowing down naturally; (2). during first and second time range finding 6 ' 〉=a certain threshold value, close the warning of slowing down naturally of wind throttle; (3). when once finding range 6 ' 〉=a certain wealthy family limit value, braking warning (bj in Fig. 4 ₃Provide the automatic guidance brake signal); (4). report to the police for the second time in (3), alarm count device output sudden stop is reported to the police.These warnings are that PD, the automatic operation result 6 ' of PID controller carry out the difference warning more automatically by comparator 14.

Type of alarm: sound, light are also used: (1)., (2)., (3)., (4). four kinds of warnings all adopt 17 flickers of 4 or 5 charactrons to show that language chip, loudspeaker are said telephone alarm.

Warning judging circuit: (1)., (2)., (3)., (4). digital comparator or analog comparator or micro controller system computing are all adopted in four kinds of warnings, relatively whether the different separately threshold values thresholdings of She Dinging are out-of-limit, and calculate out-of-limit number of times, report to the police according to the out-of-limit and out-of-limit number of times of difference is different respectively.

(11). charactron telltale 16,17,18 is formed.16 show kS _V, 17 show S _X2', 18 show v _m, control charactron 17 flicker display alarms.

Fig. 4. be full-automatic pilot for prevention of car collision automatic speed regulation Control of Automobile safe distance between vehicles system implementation example circuit diagram, this figure has intactly explained the specific embodiment of the invention.

Full-automatic pilot for prevention of car collision automatic steering state: the people is controlled preferential automatic transfer switch k ₁k ₂k ₃k ₄k ₅k ₆Normally closed contact is all closed.

One, running automobile provides two data: (1). and vehicle speed converts binary-coded decimal to through A/D and makes storage address, reads speed of a motor vehicle safe distance between vehicles S from memory device _V, convert analog quantity to through D/A, through resistance R ₁Send the inverting input of amending unit amplifier 1, through changing feedback adjustable potentiometer R _2xRevise back output " given value "-kS _VThrough resistance R ₄Send the inverting input of amplifier 2 addition comparators; (2). distance between automobile and front truck or the obstacle records S by ultrasonic range finder _X2' after D/A converts analog quantity to, through resistance R ₃Inverting input that send amplifier 2 addition comparators and-kS _VSubtract each other output=Δ s.

Two, Δ s=-(S _X2-kS _V)=kS _V-S _X2Error control:

(1). as S _X2'＞kS _VBe that the automobile open the throttle wide quickens automatic control state, because of surveying following distance＞given value: output Δ s＜0 is through the 3 anti-phase amplifications outputs 3 '＞0 of ratio P amplifier, 4 and 5 is respectively integration I and differential D op amp, obtain 3 '+4 '+5 '=6 ' through anti-phase adder 6, as 6 '＜0,6 ' totally 3 tunnel outputs: 1.. through R ₃₁Control 4 warnings, wherein bj ₃Send among Fig. 5 4518 ₁Alarm count is when continuous alarm 2 times 4518 ₁Output bj ₄Report to the police, because 6 '＜0 automatic guidance acceleration mode and do not produce warning; 2.. through R ₂₂Send into comparator 7, output 7 '=" 0 ", control aerotron T ₁End J _1BJ _2B(Maximum speed limit normally closed contact) is all closed, T ₂Base stage is connected control F ₁3. .6 ' passes through R ₂₃, F ₁Control T ₂Base stage and control coil ₁Electric current increases then wind electromagnetic oil executive device control wind accelerator open degree as electric current and increases, thus automatic guidance quickens to reduce and front truck between spacing S _X2', make S _X2'=given value kS _V

(2). as S _X2'＜kS _V, promptly when front truck take place to slow down, 6 '＞0, T ₁Become conducting, relay J by ending ₁Action J _1BNormally closed contact disconnects, T ₂Base stage is passed through R ₃₀Ground connection becomes 0 current potential and ends coil ₁Electromagnetic control executive device no current slows down naturally and close the wind throttle.Do not report to the police but, so T ₄End J ₃Open contact J _3K1J _3K2Disconnect, brake does not act on; When front truck generation sudden stop, 6 '＞＞0, bj ₃Alarm control T ₄Become conducting, J by ending _3K1J _3K2All closed, so producing the band-type brake square wave, the anti-lock square-wave generator passes through R ₃₄Send into amplifier 13 inverting inputs and 6 ' and pass through R ₃₁Send into amplifier 13 in-phase input end additions output 13 ', 13 ' control T ₃The stack square wave current is at coil on the DC level of a variation ₂In flow through coil ₂Produce two electromagnetic fields: one is and the DC current electromagnetic field of 6 ' the proportional variation, and another is the square wave current electromagnetic field, and these two electromagnetic fields are superimposed and are contained in this coil ₂In permanent magnet NS extremely opposite sex vibration inhale mutually, produce big electric and magnetic oscillation anti-lock brake power and come brake deceleration, control accident-free vehicle spacing=when 6 ' the then automatic anti-lock sudden stop during greatly to a certain design value slows down with the given value of velocity variations.So fundamentally stop the generation that automobile is collided.

Three, Maximum speed limit: V=12V voltage is through resistance R ₂₁R ₃₅Dividing potential drop gets V _mMaximum speed limit voltage, but the hand adjustment turn-knob changes R ₂₁Resistance change Maximum speed limit V _m, V _mSend comparator 9 end of oppisite phase; The analog signals V of the instant speed of a motor vehicle of automobile _xThrough R ₃₆Send comparator 9 in-phase ends and V _mCompare: work as V _m＞V _x, 9 '=" 0 ", T ₅End J ₂Relay is failure to actuate; Work as V _m≤ V _x, 9 '=" 1 ", T ₅Conducting, J ₂The actuating of relay; J _2BNormally closed contact disconnects, T ₂End, control wind throttle is closed nature and is slowed down, and plays the effect of restriction maximum speed.

Four, the logic control switch k among Fig. 2 _CIn Fig. 4, comprise: a.J ₂Relay and contact J _2BT ₅With comparator 9; B. comparator 7, aerotron T ₁And relay J ₁And contact J _1BC.bj ₃Comparator, T ₄And J ₃Relay and contact J _3K1J _3K2D.F ₁And T ₂

Five, the people is controlled and preferential is controlled automatic transfer switch by k with full-automatic pilot for prevention of car collision ₁k ₂k ₃k ₄k ₅k ₆6 series connection normally closed switchs are formed, wherein k ₁k ₂k ₃k ₄The difference concealed installations connect in twos in wind oil and brake pedal plate boring, k for 4 ₅With the alternative that turn signal swich is connected into, k ₆Concealed installation is in clutch foot plate boring, and tandem tap disconnects during foot-operated wherein arbitrary pedal, and steering indicating light is logical, k then ₅Disconnected, all automatically switch and control preferentially for the people; Pin automatically switches to crashproof extensive autopilot control automatic steering when pedal and steering indicating light reset.

Six, bj ₁Bj ₂Bj ₃Bj ₄Report to the police output for four lift the warning, control different language chips respectively separately and carry out language alarm separately except that all controlling the indicator lamp flicker.

Fig. 5. the circuit diagram of ultrasonic range finder embodiment

Fig. 5 is sent and receptor B by super sonic ₁B ₂, ultrasonic square wave generation oscillator, monostable trigger, counting machine, comparator, gating circuit, decimal scale coding and decoding control super sonic transmission and acceptor circuit, numerical control gain programming amplifier, temperature self-compensation instrumentation be apart from the ultrasonic range finder towards the range finding 150-200m of producer, range finding counting machine composition.

The characteristics of working process and employing circuit are: cond c during energized _c, diode D _cWith resistance R _cForm differential circuit and produce and export positive pulse: 1. give 4518 the 15th pin clear " 0 "; 2. act on DW ₁Make it trigger Q=" 1 ", Q '=" 0 ".Q=" 1 " effect has 2:a. to pass through D ₁Releasing is to F ₃F ₄R ₄₁R ₄₂c ₄The clamp of forming ultrasonic generator blocks, starting oscillation output range finding and the ultrasonic square wave of decimal scale coding and decoding control counting; B. opening 4518 the 10th pin counting control gate makes count pulse by F ₁Output is through c ₂Act on 9 pin and begin counting, by Y ₁Y ₂Y ₃Form control gate design is encoded to 9 count decoding control, Y when sending 9 ultrasonic square waves ₃=" 1 " → " 0 " control DW ₁Turn back stable state: the counting of ultrasonic generator and 9 pin is closed in Q=" 1 " → " 0 "; Q '=" 0 " → " 1 " effect gives 4518,4518 ₂, 5001 DW of control when making its clear separately " 0 " ₂Make Q ₂=" 0 " → " 1 ", Q ' ₂=" 1 " → " 0 " is in temporary stable state.Temporary stable state Q ₂=" 0 " → " 1 " effect gives 4518,4518 ₂, 5001 open and count control gate separately and pass through D ₂Releasing is blocked the clamp of range finding impulse deviser, and temperature self-compensation range finding impulse deviser is by F ₅F ₆R _tWith 2 same capacitor c _fBe designed to the frequency by 2 frequency divisions, 1mm, 10mm output range finding pulse, oscillation frequency are represented in each pulse respectively $f=1/\left(4\mathrm{\&pi;}\sqrt{{2R}_t{c}_f}\right)$ , R wherein _tBe by negative temperature coefficient semiconductor resistance and the temperature variant resistance of metal film resistor connection in series-parallel automatic compensation ultrasonic propagation velocity.4518 ₂Totally 2 counting machines wherein 1 make alarm count, 1 and make a range finding position counting, if increase by 1 ten digit counter again, at this moment be totally 6 decimal scales range finding counting machines, then pulse resolution is brought up to each pulse and represents 0.1mm respectively.Totally 5 decade counter counting range finding pulses among the figure, 4518 ₂Individual position only counts 1 → 9, and 3456 pin after the 10th step-by-step counting connect diode D and grounding resistance R separately ₅₃Form negative and gate control circuit output " 1 " → " 0 ", through c ₁₁Is the 10th pulse carry to 5001 (negative saltus step flip-flop number) counting 1 tens, so 5001 counting regions are 10 * 0 → 9999, if low level increases tens binary-coded decimal counting machine again, 5001 counting regions are 100 * 0 → 9999.

Ultrasonic receiver B ₂Received pulse is through f ₁f ₂2 grades of amplifications, f ₁f ₂With numerical control gain programming instrumentation amplifier PGA202 without negative feedback resistor, gain is 1,10,100,1000,2 grades of maximums are amplified 1,000,000 times, purpose is the distance that increases ultrasonic ranging, increase one-level aerotron super sonic LC parallel resonance frequency-selecting preamplifier state in case of necessity again, purpose is more effective inhibition noise.Signal after the amplification is through b ₁The comparator integer is sent 4518 pin 1 counting of decoding, and when counting was 9 just, the comparison of 4585 digital comparators counted up to entirely and equates and 3 pin output " 1 " → " 0 " pressure DW with two groups that are compared ₂Turn back stable state: Q ₂=" 1 " → " 0 "; Q ' ₂=" 0 " → " 1 "; Q ₂D is passed through in=" 0 " ₂Clamp stops the pulse transmission of finding range, and just finishing department is apart from a measuring period, and 5001 count results are surveyed high 4 decimal scale results of vehicle headway exactly, again with seven sections decodings, the maximum demonstration of usefulness charactron: 99.99m; 999.9m these 4 measured distances are enough.

Q ' ₂C is passed through in=" 0 " → " 1 " ₉R _cDifferential output except that to 4518 the 15th clear " 0 ", is given DW ₁The 4th pin triggers and to make it be in temporary stable state again, and automatic guidance begins next measuring period, finds range so again and again and controls demonstration.

The decoding counting can not be 9 o'clock just, and promptly vehicle headway can not forced DW in measurement range ₂Turn back stable state, treat temporarily surely to arrive design time as being designed to 1.5[s] time DW ₂Automatically turn back stable state, still carrying out again and again, automatic ranging, range finding result show automatically, and feed back and export to comparator.

Use F ₁F ₂Be to be added in ultrasonic generator B for increase ₁Last alternating voltage, F ₁F ₂F ₃F ₄With 4049 or 4069, power with addition 17V power supply after 7808 and 8709 voltage stabilizings respectively with inverter.The range finding of this scheme just can be above 93117109, the 93223143 patents maximum 150-200m distance of finding range.Also have the infrasonic sound carrier schemes in addition, promptly use glue B ₁Stick on securely on the body of infrasonic wave generator, for example on the cone of loudspeaker.

Claims (10)

1, a kind of full-automatic pilot for prevention of car collision is characterized in that comprising: speed of a motor vehicle detection binary-coded decimal conv, memory device or function generator and amending unit, apomecometer, comparator, controller contain adder, logic control switch, wind throttle and brake electromagnetic actuator device, brake controller, maximum speed setter and comparator and alarm control display unit;

Described speed of a motor vehicle detection binary-coded decimal conv obtains this car speed of a motor vehicle and is converted to binary-coded decimal delivers to memory device or function generator and amending unit;

Described memory device or function generator and amending unit comprise a memory device or function generator, scale operation device at least, the speed of a motor vehicle detects binary-coded decimal and does the address code of memory device or the input of function generator, and the safe distance between vehicles of memory device or function generator output is sent comparator after the scale operation device is revised;

Described apomecometer ultrasonic range finder, in order to obtain the actual spacing of Ben Che and front and back car or obstacle, comparator is sent in output;

Described comparator will be imported the safe distance between vehicles given value and compare computing with the actual spacing that input records, and output error is to controller;

It is that error is carried out proportion differential PD or proportion integration differentiation PID arithmetic and logic unit that described controller contains adder, and its operation result exports to respectively: logic control switch is to wind throttle electromagnetic actuator device, brake electromagnetic actuator device, alarm control display unit;

Described brake controller is made up of anti-lock square-wave generator, adder, comparator, comparator connects controller and provides out-of-limit brake signal, and control adder output anti-lock square wave and out-of-limit brake signal sum are sent the brake electromagnetic actuator device and sent logic control switch " 0 ", " 1 " control signal;

Described maximum speed setter and comparator comprise a maximum speed given circuit and a comparator, the maximum speed given circuit provides the restriction maximum speed and sets number or analog voltage, comparator compares maximum speed setting value and actual vehicle speed value, and the result is exported to logic control switch;

Described logic control switch is sent into control signal according to controller, brake controller, maximum speed setter and is compared logic determines respectively, and the result provides the control of connecting and disconnecting to wind throttle electromagnetic actuator device control access; Logic control switch includes the people and controls preferential automatic transfer switch, is used for automaticallying switch between crashproof automatic steering and driver driving;

2. full-automatic pilot for prevention of car collision according to claim 1, it is characterized in that described memory device or function generator and amending unit comprise a memory device or function generator at least, the scale operation device, described memory stores safe distance between vehicles value, the function generator input speed of a motor vehicle output safety spacing or the input safe distance between vehicles output speed of a motor vehicle, the speed of a motor vehicle detects the output of binary-coded decimal conv as the address code of this Memory Storage Unit or the input of function generator, the safe distance between vehicles of memory device or function generator output send comparator to make the closed loop control system given value after the scale operation device is revised, and constitutes necessary given value positive feedback path; Described function generator can be manufactured by hardware, but also software programming realizes.

3, full-automatic pilot for prevention of car collision according to claim 1, it is characterized in that described ultrasonic range finder is sent and reception control circuit by super sonic transmission and receptor, ultrasonic generator, monostable trigger, counting machine, comparator, gating circuit, 1-3 position decimal scale coding and decoding super sonic, numerical control gain programming amplifier, temperature self-compensation range finding are formed towards producer; Under monostable trigger, counting machine, comparator, gating circuit, the transmission of 1-3 position decimal scale coding and decoding super sonic are controlled with acceptor circuit, ultrasound transmitter device sends the decimal coded super sonic, reflection echo send decimal scale decoding back output control signal by ultrasonic receiver reception, amplification, the output of comparator comparison differential, promptly finish one measuring period time T, at the T 2 divided pulses counting that counting machine sends the range finding impulse deviser of finding range in the time, count results promptly is the actual measurement spacing; Also be to adopt to increase and be added in ultrasonic generator B ₁Last alternating voltage amplitude, inferior sound carrier send super sonic and increase range finding apart from reaching super 150-200m.

4, full-automatic pilot for prevention of car collision according to claim 1 is characterized in that described PID controller=K _P+ K _I* 1/S+K _DS=16 * 10 ⁵ω _n ²+ ω _n ³/ S+2400 ω _nS is to automobile or other 2 rank object=1/S ²Control be III type closed loop system: [2400 ω _nS+16 * 10 ⁵ω _n ²+ ω _n ³/ S]/[2400 ω _nS+16 * 10 ⁵ω _n ²+ ω _n ³/ S] (1), it is to disappear mutually at 0 the utmost point, zero point that described III type closed loop system must have a pair of by integral controller decision, its dynamic property depends on PD controller=K fully _P+ K _DS=16 * 10 ⁵ω _n ²+ 2400 ω _nS, tracking performance depends on undamped natural frequency ω fast _nValue: 100＞ω _n＞0, works as ω _n=1 increases to 10, and it is 0.00065[s that the zero steady state error time of the unit-step response of dead-beat, non-overshoot amount is accelerated 10 times], system stability nargin improves 10 times.

5, according to claim 1 or 4 described full-automatic pilot for prevention of car collision, it is characterized in that described controller PD=K _P+ K _DS=a ₁ω _n ²+ a ₀ω _nS works as a ₀/

〉=1.739, satisfy automobile or other 2 rank object=1/S ²The dead-beat of closed loop control, the requirement of non-overshoot; Work as a ₀/ 〉=14.66, a ₀=44000, satisfy automobile or other 2 rank object=β/S ², wherein β=0.015---1000 changes 66666.6 times and dead-beat, the non-overshoot performance is constant, just traverse time differs the closed loop control of 14ms; The controller performance of described PD controller depends on a fully ₀, a ₀/ √ a ₁, ω _nValue, described PD controller constitutes proportion differential 2 the state inverse feedback C/LOOP necessary structure of closed loop system output to 2 rank controll plants.

6, full-automatic pilot for prevention of car collision according to claim 1 is characterized in that also comprising read out instrument, and the input of read out instrument is connected with the output of storage amending unit, apomecometer respectively, is used to show safe distance between vehicles and actual spacing.

7, full-automatic pilot for prevention of car collision according to claim 1 is characterized in that described wind throttle and brake electromagnetic actuator device are made of aerotron galvo amplifier, hot-wire coil, magnet.

8, full-automatic pilot for prevention of car collision according to claim 1 is characterized in that described logic control switch comprises that the people controls preferential automatic transfer switch by 6 series connected normally closed switch (k ₁, k ₂, k ₃, k ₄, k ₅, k ₆) composition, wherein normally closed switch (k ₁, k ₂, k ₃, k ₄) 4 series connection in twos respectively concealed installation in wind oil and brake pedal plate are holed, normally closed switch (k ₅) alternative that is connected into turn signal swich, steering indicating light is logical, normally closed switch (k then ₅) disconnected, normally closed switch (k ₆) concealed installation is in clutch foot plate boring, tandem tap disconnects during foot-operated wherein arbitrary pedal, and all preferential automatically the switching to the people controlled; Pin automatically switches to crashproof extensive autopilot control automatic steering when pedal and steering indicating light reset.

9, full-automatic pilot for prevention of car collision according to claim 1, it is characterized in that described maximum speed setter and comparator can provide Maximum speed limit BCD number with digital dial, 10 lines-4 line BCD priority encoder, or provide the speed limit aanalogvoltage with potential device, the given value of device as a comparison.

10, full-automatic pilot for prevention of car collision according to claim 1 is characterized in that described alarm control display unit reports to the police when PD or PID signal are out-of-limit; The judging circuit that also is to report to the police can adopt digital comparator or analog comparator or micro controller system computing, and relatively whether the different separately threshold values thresholdings of She Dinging are out-of-limit, also can calculate out-of-limit number of times, reports to the police according to the out-of-limit and out-of-limit number of times of difference is different respectively; Type of alarm is sound, light and usefulness, and four kinds of warnings are all adopted 4 or 5 charactron flicker demonstrations and passed through the language chip sounding alarm.

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