KR840000026B1 - Automatic control system of car break - Google Patents

Abstract

An automatic car break for preventing the sudden crash consists of an ultrasonic generator, and a receiver detecting the reflected ultrasonic wave and calculating the position, the distance and the states of the obstacle. The receiver has a machanical controller controlling the solenoid current. This consists of a sliding face and a steel needle. The sliding face forms a saw-shape which one side is conductive and another side is non-conductive. The angle of the declination is adjusted not to interfere the sliding action of the needle. The output of the controller is connected to the break mechanism through the AND gate, and a solenoid.

Description

Automatic control device of automobile brake

1 is an ultrasonic song attached to the front of a vehicle. Perspective view of receiver.

2 (a), 2 (b), 2 (c) and 2 (d) are state diagrams of the four basic movements of the obstacle relative to the vehicle.

3 is a block diagram of the present invention.

4 is a circuit diagram of the present invention.

Figure 5 (a) is an embodiment of the mechanical increasing circuit of the present invention. Figure 5 (b) is another embodiment of the mechanical increasing circuit of the present invention.

Figure 6 (a) is an embodiment of the brake drive device of the present invention. 6 (b) is another embodiment of the brake drive device of the present invention.

Figure 7 (a) is an embodiment of an electronic increasing circuit of the present invention. 7 (b) is another embodiment of the electronic increasing circuit of the present invention.

* Explanation of symbols for main parts of the drawings

1, 2, 3: ultrasonic receiver 7, 8, 9: high pass filter

16: differential amplifier 17: absolute value circuit

18: inverting amplifier 19, 21: increasing circuit

24: solenoid 25: brake drive device

According to the present invention, when it is necessary to apply a brake due to an obstacle in front of a driving vehicle (another vehicle or a person), the automatic control of the automobile brake that automatically detects or releases the brake of the automobile by detecting the position and operation of the obstacle by ultrasonic waves. Relates to a device.

Conventionally, when a driver drives a car, he or she must drive the steering wheel, brakes, axelator, and the gearshift gear repeatedly whenever a person or other car appears suddenly, especially when the car is pushed in the city. The driver's mental fatigue caused by the irregular brake operation that is stepped on and released is increasing, and in this case, a series of collision accidents were often caused by inattention.

In view of the above, the present invention attaches an ultrasonic transmitter and receiver to the front of a vehicle, detects the position, distance, and movement state of an obstacle with a reflected wave received by emitting ultrasonic waves, and automatically brakes or releases the brake by an automatic control circuit. The aim is to prevent collision accidents, reduce operator fatigue, and automatically and precisely brake.

In the configuration of the present invention, as shown in FIGS. 3 and 4, the ultrasonic receivers 1, 2, and 3 may detect the detectors 10, 11 through the first amplifiers 4, 5, and 6 and the high pass filters 7, 8, and 9, respectively. , 12) and connected to the inputs of the second amplifiers 13, 14 and 15, and the output of the second amplifiers 13 and 14 is passed through the differential amplifier 16 and the absolute value circuit 17 to the inverting amplifier 18 ), And the output of the inverting amplifier forms serrated sliding parts 31 and 31 'on the upper surface of the arc-shaped conductor plates 30 and 30' as shown in FIG. Input terminals of the increasing circuit 19 to form the portions 32, 32, 32 ', and the steel needles 34, 34' of the movable coil type gauge are moved in contact with the insulators 33, 33 'on the other side. And an output of the second amplifier 15 is connected to the input terminal 35 'of the other increasing circuit 21 through the power amplifier 20, and the output of each increasing circuit is an AND gate 22. Drive via DC amplifier (23) and solenoid (24) It is connected to the device 25.

Reference symbol 26: Ultrasonic transmitter, 27: Alarm buzzer, 36, 36 ': Permanent magnet, 37, 37': Movable coil, 38, 38 ': Core, 39, 39': Control spring, 40, 40 ': Rotating shaft , A _{1 to} A ₁₀ : OP Amp, R ₁ to R ₅₂ : Resistance, VR _{1 to} VR ₅ : Variable resistor, C _{1 to} C ₂₈ : Condenser, L _{1 to} L ₅ : Coil, Q ₁ to Q ₁₁ : transistor, V _cc : power supply, D _1- D ₁₃ : diode, T _1, T ₂ : transformer.

The effect of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIGS. 1 and 2, the ultrasonic transmitters and receivers 26, 1, 2, and 3 are generally used. In the present invention, the ultrasonic transmitters and the receivers are attached to the front of the vehicle. The effective distance can output more than 50 meters, the frequency can be changed to select the frequency that is not affected by the noise, the transmission wave (26 ') to have a directivity to the position of the obstacle (mainly toward the front of the car). The length of the can be adjusted. Ultrasonic receivers (1, 2, 3) are attached to the left and right sides and the center of the front of the car, but the receiver diffraction gratings (1 ', 2') are installed on the left and right receivers (1, 2) to direct the reflected wave. It is supposed to have

That is, the left diffraction grating 1 'blocks some of the reflected waves from the right side to increase sensitivity to the reflected waves from the left side, and the right receiving grating 2' blocks the reflected waves from the left side to the reflected wave coming from the right side. When the obstacle is located on the left side of the vehicle (symmetry line), the reception input of the left ultrasonic receiver 1 is larger than the reception input of the right ultrasonic receiver 2 when the obstacle is on the right side of the vehicle. The receiving input of the ultrasonic receiver 2 becomes larger, and when the symmetry lines are on the same, the intensity of the receiving input of the left and right ultrasonic receivers 1 and 2 becomes equal.

Accordingly, the difference between the left and right ultrasonic receivers 1 and 2 is amplified by the differential amplifier 16 as shown in FIG. 3, and if the value is positive, the obstacle is to the right of the symmetry line and negative. On the left, zero means that it is on the line of symmetry. However, in the present invention, it does not mean that the obstacle exists on the left side or the right side of the symmetry line, and it is important that only the obstacle approaches or goes away from the symmetry line. Likewise, regardless of whether the input is positive or negative, the output always passes through the positive absolute value circuit, so that the obstacle is close to the line of symmetry, so the output of the absolute value circuit 17 is smaller and the farther the output, the larger the output is. Whether it is close to or away from the symmetry line can be easily found from the increase or decrease of the output value of the absolute value circuit 17.

However, by inverting the output value of the absolute value circuit 17 with the inverting amplifier 18 as shown in FIG. 3, it can be seen that the output value increases as the obstacle is closer to the symmetry line and becomes smaller as it moves away.

The reason for inverting the output of the absolute value circuit 17 in this way is that the closer the symmetry line to the obstacle is, the more dangerous it is to catch the brakes faster by increasing the final output value as the obstacle is closer to the symmetry line.

In addition, as shown in FIG. 2, the relative motion state of the obstacle with respect to the car can be seen as a combination of four basic shapes and their basic shapes (vector sum). That is, an operation in which the obstacle jumps at right angles to the direction in which the vehicle runs, as shown in FIG. 2 (a), an operation in which the obstacle jumps out as shown in FIG. As shown in 2 (d), it can be divided into four kinds of moving away from each other.

However, when the car and the obstacle move away from each other or when the car is stopped (when there is no change in the distance from the obstacle), it is not necessary to control the brake, but only when the distance between the car and the obstacle is close. High frequency filters 7, 8, and 9 are connected to the rear ends of the ultrasonic receivers 1, 2, and 3 as shown in FIG.

In this way, when the car is running toward the obstacle, the distance from the obstacle is gradually closer, so that the reflected wave reflected from the obstacle and received by the ultrasonic receivers 1, 2, and 3 is applied to the Doppler effect (when the sound source and the listener are relatively approaching). Is higher than the transmission frequency by the sound wave being heard high and low when it is moving away, so that the pass frequency of the high pass filter 7, 8, 9 connected to the rear end of the ultrasonic receivers 1, 2, 3 is higher than the transmission frequency. If set, the reflected wave is detected only when the car and the obstacle get closer to each other so that the brake can be controlled.

In this case, if the distance between the vehicle and the obstacle is far away or there is no change, the frequency of the received reflected wave is also lower than or equal to the transmission frequency by the Doppler effect. Therefore, all these signals cannot pass through the high pass filter (7, 8, 9). In this case, the brake is not controlled.

6 (a) and 6 (b) are examples of the brake drive apparatus, which may be implemented by a servo mechanism in which the brake is stepped on by the action of the solenoid 24.

When the current flows in the solenoid 24 as shown in FIG. 6 (a), the solenoid 24 is attracted to the driving core 42, and thus the pedal connecting rod 43 presses the brake pedal 44 downward to press the brake. The force that the solenoid 24 pulls on the driving core 42 is proportional to the current flowing through the solenoid. Therefore, if a large amount of current is flowed in a short time, the brake pedal 44 will be stepped quickly. Will be stepped on. In addition to the sixth (b), when the brake pedal 44 is lowered, the axelator pedal 45 will be more effective if the seesaw 46 device is raised. As such, it is the increment circuits 19 and 21 that appropriately control the current flowing in the solenoid 24 with a signal which grasps the distance, position, and operation state of the obstacle. The increasing circuits 19 and 21 are mainly mechanically configured as shown in FIG. 5, and may be realized only by an electronic circuit as shown in FIG.

First of all, the mechanical one is applied to the coils 37 and 37 'by the interaction between the cylindrical cores 38 and 38' of the rotating shafts 40 and 40 'and the permanent magnets 36 and 36', as shown in Fig. 5 (a). The larger the current flowing, the toothed sliding portions 31 and 31 'made of steel needles 34 and 34' and the conductive portions 32 and 32 'and the insulators 33 and 33' can move to the right. The outputs 41 and 41 'are connected to the solenoid 24.

Thus, if the output of the inverting amplifier 18 and the power amplifier 20 of FIG. 3 inputted to the input terminals 35 and 35 'of the increasing circuit are larger than the current set value, the needle 28 is a toothed sliding part 31, 31 ') and move to the right.

At this time, one side of the tooth is a conductive portion (32, 32 '), the other side is insulated (33, 33'), so the steel needle (34, 34 ') and the toothed sliding portion (31, 31') is a needle ( 34, 34 ') can be switched according to the direction of movement.

In other words, as the input value of the increase circuit increases and the needles 34 and 34 'move to the right, the output of the increase circuit gradually increases because the needles 34 and 34' intermittently contact the conductive portions 32 and 32 '. On the contrary, when the input value decreases, the needles 34 and 34 'are moved to the left by the springs 39 and 39'.

At this time, the needles 34 and 34 'and the insulators 33 and 33' come into contact with each other, so that the output of the increase circuit decreases.

If the insulator 33 "is attached to one side of the tooth and the conductive part 32" is formed on the other side, as shown in FIG. 5 (b), the direction of movement of the needle 34 "is upward. If the input value is less than the current set value, the output will increase in phase inversion circuit.

Therefore, in the block diagram of FIG. 3, the inverting amplifier 18 and the increasing circuit 19 may be replaced with my phase inverting increasing circuit.

The angle of the mountain should be determined so that the needle can move well. In particular, the mechanical increment circuit shows the maximum output when the needle reaches the rightmost boundary plates 29 and 29 'made of conductors when the input signal of the increment circuit is maximum, but the needles 34 and 34' are at this maximum boundary position. ), The conductive parts 32 and 32 'of the indentation teeth of the needles 34 and 34' intermittently perform the switching action so that the phase control of the power is eventually performed. At least, when the obstacle approaches slowly from a distance, the brake action is smoothed and the input phase can be reversed depending on the position of the insulator on the panel mount. Connected in series with the power supply E, the AND gate and DC amplification can be performed simultaneously.

Since the needles 34 and 34 'and the conductive portions 32 and 32' of the sawtooth form electrical contacts with each other, it is preferable to silver plate the contacts when the current flows in a large amount.

Secondly, the electronic increasing circuit is as follows.

In FIG. 7, the terminals a 'and b' are provided with the outputs Vc ₁ and Vc ₂ of the unstable multivibrator MV, and the output signal of the inverting amplifier 18 is connected to the terminal a and the terminal b. ) Always outputs an output signal of the power amplifier 20.

In the figure, the diodes D ₈ , D ₉ , the resistors R ₃₄ , R ₃₅ , R ₃₆ , R ₃₇ and the power supply E form a gate circuit.

The gate circuit selects the passage of the input signal in time and passes the signal only when the gate is on.

In the formation of the gate circuit, the point P is negatively biased above the maximum value of the normal signal so that the diodes D ₈ and D ₉ remain off only for the input signals Vi ₁ and Vi ₂ .

If the input signals Vi ₁ and Vi ₂ and the gate pulse Vc ₁ or the gate pulse Vc ₂ are simultaneously applied to the diodes D ₈ and D ₉ , the potential of the point P overlaps the signal wave and the pulse wave. The potential rises and the diodes D ₈ and D ₉ are turned on.

In this way, the input signals simultaneously input to the terminals a and b are divided according to the respective times of the rectangular pulse signals Vc ₁ and Vc ₂ as shown in FIG. 7 which is the output of the unstable multivibrator MV. will be.

That is, between the times t ₀ -t ₁ , the input signal Vi ₂ of the terminal b passes through the gate circuit as described above and is smoothed of the coil L ₄ and the capacitors C ₁₈ , C ₁₉ . The circuit is switched to direct current to act as a bias on the base of transistor Q ₆ .

In this case, the amount of bias will vary according to the magnitude of the input signal. Between the next instant time (t ₁ -t ₂ ), the output signal Vc ₁ of the unstable multivibrator (MV) and the gate circuit pass through the gate circuit of the terminal (a), which is a phase inversion circuit. The polarity of the signal in the transformer is changed, passed through the variable resistor VR ₄ and the coupling capacitor C ₁₅ , and then applied to the base of the transistor Q ₆ , if the input between time t ₀ -t ₁ . Collector and emitter of transistor Q ₆ if the bias potential of transistor Q ₆ charged to smoothing circuit by signal Vi ₂ is greater than input signal Vi ₁ between time t ₁ -t ₂ . In this case, the output of the transistor Q ₆ is amplified by the amplifying circuit composed of the transistors Q _{7 to} Q _{9 of} FIG. 7 (a) to apply a current to the solenoid 24 to apply a brake.

On the contrary, when the input signal Vi ₁ between the times t ₁ -t ₂ is greater than the input signal Vi ₂ at the time t ₀ -t ₁ , the transistor Q ₆ is turned off to flow to the solenoid 24. The current is reduced or interrupted so that the brakes will not be caught. Then, we can see that the 7 (a) degree transistor (Q ₆₎ instead of the can in the same features of claim 7 (b) to be increased by replacing the combined differential circuit and the detection circuit such assist circuit.

When the pulse signal, which is the output of the multi-vibrator MV, is weak, it is amplified before entering the gate circuit.

The operation of the present invention is illustrated by an example in which the movements of FIGS. 2 (a) and 2 (c) occur at the same time, that is, when a vehicle is running while a person traverses from right to left perpendicular to the line of symmetry. Dunwook described in detail as follows.

Ultrasonic waves emitted from the ultrasonic transmitter 26 as shown in FIGS. 1, 3, and 4 are fitted to the human body and reflected and input to the central ultrasonic receiver 3 and the left and right ultrasonic receivers 1 and 2. The signals are amplified by the first amplifiers 4, 5 and 6, respectively, and passed through the high pass filters 7, 8 and 9 to be detected by the detectors 10, 11 and 12 and then the second amplifiers 13, 14 and 15. Is amplified again.

The outputs of the second amplifiers 13 and 14 are again input to the differential amplifier 16. As shown in FIG. 2 (a), since the person gradually approaches the symmetry line from the right side of the symmetry line, the output of the differential amplifier 16 becomes smaller. Since the output value inverted by the inverting amplifier 18 past the absolute value circuit 17 is gradually increased as described above, this increase signal is also input to the input terminal 35 of the increase circuit 19 in FIG. 5 (a). Will be.

Also, the output of the first amplifier 15 is amplified by the power amplifier 20 and input to the input terminal 35 'of the increasing circuit 21 of FIG. 5 (a), as shown in FIG. 2 (c). As the distance from the person is also getting closer, the receiving power of the central ultrasonic receiver 3 also increases gradually. Therefore, the output of the power amplifier 20 also increases.

Therefore, as shown in FIG. 5 (a), the current flowing through the movable coils 37 and 37 'is gradually increased, so that the steel needles 34 and 34' move to the right to rub the conductive portions 32 and 32 'of the saw tooth. Therefore, the current flowing in the solenoid 24 is increased by the above-described action.

As the current flowing in the solenoid 24 increases, the solenoid 24 gradually pulls the driving core 42 to the driving core 42 as shown in FIG. 6 (a), so that the connecting rod 43 steps on the brake pedal 44 of the vehicle. The speed will be gradually reduced, and when a person passes completely, no signal is input to the ultrasonic receivers 1, 2, 3, so that the steel needles 34, 34 'of the increasing circuits 19, 21 have a spring 39, 39 ') is quickly returned to the leftmost insulator (33, 33') by blocking the current flowing in the solenoid 24, the drive iron core 42 is lowered, the brake pedal 44 is Back up, the car can continue running.

If a person is standing on the line of symmetry, the output of the power amplifier 20 and the output of the inverting amplifier 18 is the maximum, the brake is completely caught and the vehicle is stopped.

In addition, the faster the speed of the vehicle, the closer the distance between the vehicle and the person is, so that the intensity of the reflected wave input to the central ultrasonic receiver 3 also increases, so that a large amount of current flows in the solenoid 24 in a short time. As a result, the brake pedal 44 is quickly stepped on, and when the speed of the vehicle is slow, the brake pedal 44 is slowly stepped on the contrary to the above.

Therefore, the brake is operated by quick and accurate mechanical operation, and a collision accident will not occur. In addition, the alarm buzzer 27 sounds every time the brake is pressed, to alert the driver further.

In the case of using infrared rays in addition to the ultrasonic transmitter and receiver, in the present invention, the ultrasonic transmitter is replaced with an infrared light emitting element, the ultrasonic receiver is replaced with a photo transistor, and the Doppler effect of light on the vehicle speed is ignored, and thus high frequency is prevented. If the filter is replaced with a tuning circuit, the present invention may be implemented using infrared rays.

Thus, the present invention is to control the brake automatically according to the operation state of the obstacle and the distance and position shown in front of the vehicle automatically, so that the safety when driving is high, and in some cases can also do semi-automatic driving without worrying about the brake It is.

Claims (1)

The ultrasonic receivers 1, 2, 3 pass through the detectors 10, 11, 12 through the first amplifiers 4, 5, 6 and the high pass filters 7, 8, 9 and the second amplifiers 13, 14, 15 is connected to the input of the inverting amplifier 18 through the differential amplifier 16 and the absolute value circuit 17 at the output of the second amplifiers 13 and 14, and the output of the inverting amplifier is arc-shaped. Serrated sliding parts 31 and 31 'are formed on the upper surface of the conductor plates 30 and 30', so that the conductive parts 32 and 32 'are formed on one side of the tooth, and the insulators 33 and 33' on the other side. Is connected to the input terminal 35 of the increasing circuit 19 to which the steel needles 34 and 34 'are brought into contact with each other, and the output of the second amplifier 15 passes through the power amplifier 20 to form another increasing circuit ( 21 is connected to the input terminal 35 ', and the output of each incremental circuit is connected to the brake drive device 25 via the AND gate 22 through the DC amplifier 23 and the solenoid 24 to the brake drive device 25. Automatic control device.

Images