RU1837351C - Method of controlling movement of vehicles - Google Patents

Description

The invention relates to automation and can be used on mobile and hazardous vehicles - automobiles, trolleybuses, ships, vehicles, trailers, etc.

The purpose of the invention is to increase the functional reliability of the method.

The following is an example implementation of the method.

A block diagram of a device for executing the branching method is shown in Fig. 1, voltage diagrams are shown in Fig. 2.

The device contains a set of generating a single request signal (radio channel) I, which includes a high-frequency iterator 1, modulator 2, the 1st amplifier of pitch З, transmitting antenna 4, the first detector 5, digital-to-analog converter 6, and the 1st pulse-width ( PWM) modulator 7; a set of active potential obstacle II (which alone cannot be a source of danger), comprising a 1st receiving antenna 8, a first I / O amplifier 9, a first frequency divider 10, a second power amplifier 11 and a first ultrasonic emitter 12; a set of hazardous vehicle III, which includes a 2-receiving antenna 13, a second high-frequency amplifier 14, a second frequency divider 15, a third power amplifier 16, a second ultrasonic emitter 17, an ultrasonic microphone 19, an amplifier 20, the first detector 21, second detector 22, reference level source 23 inverting delay element 24, first comparison circuit 25, second comparison circuit 26, first circuit ILY-27, second counter 28, third counter 29, code comparator 30, first circuit I 31, second OR 32 circuit, speed sensor 33, second PWM - module 00

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torus 34, third PWM module torus 35, second. circuit 36, the first and second delay elements 37 and 38, the waiting multivibrator 39, the actuator 40, the inverting pulse expander 41. The circuit elements are connected1, as shown in figure 1.

In addition, FIG. 1 shows an obstacle 18 that is not equipped with a transponder (silent), the ultrasound signal II reflected from which is received by the ultrasound microphone 19, as well as the ultrasonic signal H received by the microphone 19 from the transponder located in a non-hazardous area but within the operating range of the device, and signal D from the transponder that is outside the operating range.

The device operates as follows. The high-frequency generator generates a continuous sinusoidal signal in the medium or short wave range, which is supplied to the modulator 2 and the first binary counter 5, the volume of which is selected so that its full filling takes several seconds. Codes 2-3 of the high-order bits of counter 5 are fed to a digital-to-tax converter 6, at the output of which a step voltage is generated (see Fig. 2a), with a step (cycle) duration of about 1 second. This voltage acts on the 1st pulse-width modulator 7, synchronized from the lowest of the selected high-order bits of the counter 5, as a result of which pulses varying in duration are generated at the output of the IM-modulator 7 (Fig. 2b). At modulator 2, they act on a high-frequency signal that passes through the 1st power amplifier 3 and is periodically radiated into space through the transmitting antenna 4 (Fig. 2c). This radio signal is received by the 1st receiving antenna 8 of the active obstacle P, amplified by the 1st I / O amplifier 9 and divided by the frequency of the 1st frequency divider 10 to the ultrasonic range of 25-30 kHz. This ultrasonic signal passes the 2nd power amplifier 11 and excites the 1st ultrasonic emitter 12, from the output of which a response ultrasonic pulse is emitted into the space (Fig. 2d). As we see, the duration and the number of periods of the radio and ultrasound signals change each time. At the same time, at the hazardous facility 111, the second receiving antenna 13 also receives a request radio pulse, which passes through the second high-frequency amplifier — amplifier 14, a second frequency divider 15, similar to divider 10, a third power amplifier 16, and a second ultrasound transducer 17, as a result of which a response ultrasound pulse is also emitted into space (Fig. 2d). The time delay due to the significant difference in the speeds of the radio signal and ultrasound (100.106 and 330 m / s) can be neglected, taking into account small. Hazardous distances between the object and the obstacle (within 100-150 m).

The response ultrasonic pulse emitted by an active obstacle or other vehicle, if they are in the path of the hazardous object III, is received by its directional ultrasound microphone 19, amplified by an amplifier 20 (Fig.2d-A), detected 1 detector 21

5 (Fig. 2e-A) and enters the second inputs of the 1st and 2nd comparison circuits 25 and 26, the first inputs of which receive respectively low M and high B potentials (see Fig. 2e) from the source of reference levels

0 23. A danger signal is transmitted to actuator 40 only if the number of periods emitted in a given cycle (the last in time) and received ultrasonic pulses is equal. This is as follows. The high frequency signal from amplifier 14 is detected by the 2nd detector 22 (Fig. 2g). The leading edge of this pulse is reset to the 2nd counter 28, which counts and stores until the next request the number of emitted periods of the response signal coming from the 2nd divider 15, the same as the 1st divider 10. The code from the 2nd counter 28 is received to the 2nd input of the code comparator 30, to the 1st input

5 of which a code is received from the 3rd counter 29, counting the number of periods of the received signal from amplifier 20 (Fig. 2e). At the same time, counter 29 is reset both at the beginning of the cycle — from the 2nd detector 22, and upon arrival of each received pulse — from the 1st detector 21, through the 1st OR circuit 27. In case of equality of codes at the output of the comparator 30, an impulse is formed that lasts until the next received

5 pulses (fig.2k). The signal from the speed sensor 33 (for example, the accelerometer) acts on the 2nd and 3rd PWM - modulators 34 and 35, synchronized by the signal from the 2nd detector 22 (Fig.2g), which produce

0 single and double limits of time delays related to response and echo signals (Fig.2l, m). The detected response signal of FIG. 2e-A, since it exceeds the upper reference level B,

5 causes a pulse (Fig.2n-A) to appear at the output of the 2nd comparison circuit 26, which, through the 1st delay element 37 (Fig.2p), is supplied to the 1st input of the 1st I31 circuit, to the 2nd the input of which a single delay limit pulse is received (Fig. 2l), to the 3rd input is a signal from a code comparator 30 (Fig. 2k), and the 4th input is a signal from the 1st detector 21, delayed by an inverted delay element 24 (fig.2p). When the signals coincide at these 4 inputs, the output of the 1st AND 31 circuit is a pulse (Fig. 2c), which passes through the 2nd OR 32 circuit and emits a waiting multivibrator (relay of the femen) 39, having a duration pulse, 10-15% higher than the duration of the cycle between requests (see Fig.2t). 1, the executing mechanism 40 is triggered by this pulse, generating a signal for the driver and / or automatic braking. The delay time of the elements) 6 and 37 is longer than the delay time of the inverting delay element 24.

A weak pulse coming from a distant active obstacle located outside the working area of the device (Fig. 2e-D) refers to some earlier cycle; it has a number of periods not equal to the number of periods of the ultrasonic pulse emitted in this cycle (Fig. 2d-1 ) Therefore, although after detecting it (Fig. 2e-D), the 1-comparison circuit .25 generates a resolving pulse (Fig. 2f-D), but the code comparator 30 does not generate its resolution pulse, see Fig. 2k) and, accordingly, at output 2 th circuit And 36, a start pulse is not formed (see Fig.2c).

Thus, the device neglects an impulse that is not related to this cycle and does not produce a false alarm.

The ultrasonic echo signal reflected from the silent obstacle 18 (Fig.2d-P), passes the ultrasound microphone 19, the amplifier 20 and the 1st detector 21, is fed to the 1st and 2nd comparison circuits Ј5 and 26, as a result which, at the output of the second comparison circuit 25, an impulse is generated (Fig.2f-P), which, having passed the 2nd delay element 38 (Fig.2x-P), is fed to the 1st input of the 2nd circuit And 36, to 2- the second input of which from the 3rd PWM modulator 35 is fed a pulse of a double delay limit (Fig. 2m), to the 3rd input - a signal from the code comparator 30 (Fig. 2k-P), and to the 4th input - delayed - the signal c 1 on the inverting delay element 24 about detector 21 (fig.2p-P), at the moment of coincidence of these signals at the output of the 2nd circuit And 36, a trigger pulse is generated (Fig, 2c-P), which through the 2nd circuit OR 32 is fed to the input of the standby multivibrator 39 and confirms his cocked state. If there was no earlier response pulse (FIG. 2d-A), then the pulse of FIG.

Thus, the device responds not only to the response pulses of transport objects and active obstacles equipped with transponders, but also to

echo pulses from mute obstacles /

The obstacle response pulse that is outside the single time delay limit (Fig. 2d-H) does not cause a trigger pulse

0 (see Fig.2c), because in this case, the 1-circuit And 31 does not open due to the termination of this moment, the action of the single delay pulse of Fig. 2l, and the 2-circuit And 36 is kept from opening by low potential

5 to the 5th input from the inverting pulse expansion circuit 41 (Fig. 2u), triggered by the leading edge of the signal of the 2nd comparison circuit. 26. The expansion time of this circuit is selected so that its low potential overlaps with the action of the delayed pulses of FIGS. 2x-A, H, corresponding to strong signals.

If in the next cycle as a result of the action of the actuator or

5, there will be no response and reflected signals corresponding to 1 dangerous distances, then the waiting multivibrator 39 returns to its original state and does not affect

0 actuator 40. If the situation has not improved, then the triggering pulses of FIG. 2c are generated again, the waiting multivibrator 39 is charged and the actuator 40 is turned on, with

5 in order to remove a mobile vehicle from the danger zone.

Other embodiments of the method are possible, for example, based on phase modulation of the radio signal, with more

0 widespread use of discrete technology, etc.

SUMMARY OF THE INVENTION Radiation-based Vehicle Driving Control Method

5 interrogated radio signals, their reception on vehicles and obstacles, radiation from vehicles and obstacles of ultrasonic response signals at the time of receipt of interrogated radio signals,

0 measuring the time t between the moments of arrival of the interrogation and response signals, calculating the distance L between this vehicle and other vehicles and obstacles,

5 comparing the distance L with the minimum allowable distance Lmin, reducing the vehicle speed, if L Lmin, characterized in that, in order to increase the functional reliability of the method, the duration of the response ultrasonic signals is changed at the time of reception, they remember every vehicle the number of periods of the response ultrasonic signal emitted by the latter, which is compared with the number of periods of the received response and reflected ultrasound signals, discard all the received ultrasonic signal s, for which the number of periods is not equal to the memorized one, they compare the amplitudes of the received response and reflected ultrasound

output signals with two thresholds, the first of which determines the maximum reception range of the response signals emitted by vehicles and obstacles, and the second - the signals reflected from vehicles and obstacles, for signals exceeding both thresholds, the distance L is calculated by the formula L Vt, and for signals exceeding only the second threshold, according to the formula L 1 / 2.Vt, where V is the propagation velocity of ultrasonic signals.

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