SU1498646A1 - Speed governor for vehicle - Google Patents

Abstract

This invention relates to the automotive industry, in particular to means of controlling the movement of vehicles. The purpose of the invention is to expand the functionality by automatically taking into account the regulation of private upper and lower limits and ensuring automatic vehicle acceleration to the border of the upper speed limits. The controller contains setters 10 _I- 10 _{N of} upper speed limits, through block 11 for minimizing the signal, connected to the summing input of the first subtraction circuit 2, and knobs 15 _I -15 _to lower speed limits through block 16 for allocating the maximum signal to the summing input third 17 subtraction circuits. The subtractive inputs of the subtraction circuits 2 and 17 and the upper speed limit adjusters, depending on variables that do not characterize vehicle movement, are connected to the output of speed sensor 1. The first subtraction circuit 2 via limiting amplifier 12 and the third subtracting circuit 17 through a unipolar amplifier 18 are connected to the inputs of summing amplifier 13, the output of which is through the second subtraction circuit 14, switch 19, power amplifier 20 connected to servo control actuator 21 22. The controller enhances the automation of speed control by automatically accelerating the vehicle to the upper limit of the private limits with intensity depending on the effect of the lower private restrictions, and maintaining the speed at a variable lower limit of the upper limits. 6 hp ff, 6 ill.

Description

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It is possible to automate the speed control by automatically accelerating the vehicle to the upper private limit with an intensity depending on the lower private limit and maintaining the speed at the level of the lower lower limit of the upper limit. 6 hp f-ly, 6 ill.

FIELD OF THE INVENTION The invention relates to the automotive industry, in particular, to autonomous means of automatic control of the movement of vehicles.

The aim of the invention is to extend the functionality by automatically taking into account when adjusting several partial upper and lower limits and ensuring automatic vehicle acceleration to the limit of upper speed limits.

FIG. 1 is a block diagram of a speed controller; in fig. 2 is a block diagram of an additional setter for the upper speed limit depending on the level of the vertical component of the vehicle vibrations; in fig. 3 is a block diagram of a setter for an upper speed limit according to the conditions of movement depending on the relative speed and distance to the leader; in fig. 4 - lower speed limit adjuster depending on the level of the minimum permissible road speed; in fig. 5 - lower speed limit adjuster depending on relative speed and distance to the vehicle behind the leading vehicle; in fig. 6 is a graph-graphical illustration of the functioning of the controller depending on a combination of particular speed limits.

The block diagram of the speed controller contains the t speed sensor 1, the output of which is connected to the subtractive input of the first subtraction circuit 2 and, through the first speed switch 3, to the input of the storage unit 4, also connected to the one-shot 5 output, by its input - connected to the source of the maximum speed signal 6, which is connected via the second switch 7 to the input of the storage unit 4, which is also connected via the third switch 8 to the source 9 of the zero speed signal. The information inputs of the first setting unit lOi and the additional setting unit 102 of the upper speed limits are connected to the output of the speed sensor 1. The inputs of all setters lOi-10, / upper speed limits are connected to the inputs of the block AND selection of the minimum signal, the output of which is connected to the summing input of the first subtraction circuit 2, the output of which is through the amplifier-limit

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the nickel 12 is connected to the first input of the summing amplifier 13, its output connected to the summing input of the second subtraction circuit 14. The outputs of the setters 15i -15 # of the lower speed limits are connected to the inputs of the maximum signal extracting unit 16, connected to the summing input of the third subtraction circuit 17, the output of which through the unipolar amplifier 18 is connected to the second input of the summing amplifier 13. To the subtractive inputs of the first 2 and a third 17 subtraction circuits connected to the output of the speed sensor 1. The output of the second subtraction circuit 14 is connected via a serially connected switch 19, the power y-filler 20 is connected to the electrical circuit of the actuator 21 controlling the servo actuator 22 of the throttle valve, to which the throttle position sensor 23 is mechanically connected with its input, the output of which is connected to the subtracting input of the second circuit 14 subtraction. The control input of the key 19 is connected to a source of voltage 24 of the permitting level and contact sensors for activating the brake, clutch and accelerator panels (not shown).

The block diagram of the additional setting device 102 (FIG. 2) of the upper speed limit (depending on the level of the vertical component of the vehicle vibrations) contains the sensor 25 of the vehicle's vertical vibrations, the output of which is connected to the input of the low-pass filter 26 connected by the output to the first input comparator 27. The second input of the latter is connected to the source 28 of a fixed level signal, and the output is connected to the inputs of the one-shot 29 and inverter 30. The output of the one-shot 29 is connected to the control input of the first key 31, infor Discount input of which is coupled to the output of the speed detector 1. The output of the one-shot 30 is connected to the control input of the second key 32, to the information input of which the source 6 of the maximum speed signal is connected. The outputs of the keys 31 and 32 are connected to the input of the storage unit 33, the output of which is associated with one of the inputs of the minimum signal extracting unit 11.

The block diagram of the setting device 10 (Fig. 3) of the upper speed limit according to the conditions

Movement (depending on relative speed and distance to the leader) contains forward-oriented along the movement of the directional antenna 34 of the location sensor 35 with two outputs for signals of relative speed and distance to the leader. The first of these outputs is connected to the input of the divider of dividing unit 36 and the input of divisible dividing unit 37 into two, the divider input of which is connected to the signal source 38 corresponding to 2, and the second of said sensor outputs 35 to the summing input of subtraction circuit 39. The subtractive input of circuit 39 is connected to a signal source 40 corresponding to a small constant. The output of the subtraction circuit 39 is connected to the input of the multiplication unit 41, the other input of which is connected to the signal source 42 corresponding to the setting of the maximum achievable deceleration of the vehicle when braking. The output of the multiplication unit 41 is connected to the input of the dividend dividing unit 36, the output of which is connected to the first input of the adder 43, to the second input of which the output of the division unit 37 into two is connected. The output of the adder 43 is connected to one of the inputs of the minimum signal extracting unit 11.

The block diagram of the first setting unit 15i (Fig. 4) of the lower speed limit (depending on the level of the minimum permissible road speed) contains a source 44 of the restriction signal located at the beginning and end of the road sections with a lower speed limit, its output connected to the input of the transmitter 45 with a transmitting antenna 46 connected via the ether to the receiving antenna 47 of the receiver 48, which by its input connected with the input of the storage unit 49 is positioned on the vehicle. The output of the storage unit 49 is connected to one of the inputs of the maximum signal extracting unit 16.

The block diagram of the K-th setting unit 15fc (Fig. 5) of the lower speed limit (depending on the relative speed and distance to the leading vehicle behind the rear-wheel drive) contains a directional oriented antenna 50 of the location sensor 51 with two outputs for relative speed and distance signals from the lead vehicle. The first of these outputs is connected to the input of the quadrant 52, and the second to the input of multiplication unit 53, the second input of multiplication unit 53 being connected to a signal source 54 equal to twice the maximum achievable steady-state vehicle deceleration during braking. The output of the quad 52 is associated with

0

the first summing input of the adder 55, the second summing input of which is connected to the source 56 of a fixed signal corresponding to a small constant, and the subtractive input to the output of the block 53 multiplying. The output of the adder 55 through the functional converter 57 is connected to one of the inputs of the maximum signal extracting unit 16.

As setters for upper speed limits 102, ..., 10, well-known devices can also be used, which provide these limitations depending on the amount of adhesion to the road surface, commands with

5 sides of the regional automated control systems for the road conditions of the side stability of the vehicle on turns, etc.

Switches 3,7 and 8 - push-button type, push-pull, with self-return.

FIG. 6 shows the graphs of the time variation of the individual upper limits for the speed of movement, issued by the setters lOi-10 of the upper limits (a – b), the graphs of the private lower limits of the speed, issued by the sets

5 15 | - 15it. (g, e) and the graph of the speed control of the vehicle in the areas of automatic free acceleration I with a fixed intensity outside of private restraints, acceleration II with increased intensity under the action of lower speed limits, acceleration III with intensity depending on the mismatch of the actual speed and the minimum of the private upper limits, as well as in section IV, maintaining the speed at the level of the lower

5 border (envelope) upper speed limits (e).

The speed regulator operates as follows.

Q When the regulator is turned on with the appearance of a maximum speed voltage on the bus 6 (Fig. 1), the one-shot 5 produces a pulse with the amplitude of the maximum speed signal. This signal is captured by the storage unit 4 and sets it to the state of no additional restrictions, which prevents the controller from being triggered when turned on. If at this time switch 7 does not manually enter the level of additional fixed

0 speed limits, the controller automatically accelerates the vehicle with a fixed intensity (phase I). In the free acceleration section, the Id-10 setters produce N signals, the values of which correspond to the levels of the upper particular speed limits. The unit 11 selects the smallest of the indicated signals, the mismatch with which the signal of the actual speed from the sensor 1 is output by the first subtraction circuit 2. Blocks 15 | - 15x generate K signals corresponding to partial lower speed limits. The unit 16 selects the largest of the indicated signals, the mismatch with which of the actual speed signal is produced by the third subtraction circuit 17.

In section I, the speed of movement exceeds the level of the resultant, its lower limit, so that their mismatch is less than zero. Therefore, a unipolar amplifier 18, reacting only to positive values of the input signal, outputs a zero signal to summing amplifier 13. The error output signal, at the initial sections exceeding the fixed limit threshold value of the AV amplifier limiting amplifier 12, is fed to its input. At the output of the amplifier-limiter 12, a fixed level signal is produced, which is amplified by the block 13 and is fed to the summing input of the second subtraction circuit 14. The latter generates a mismatch signal for the speed setting signal fixed in this mode and the signal from the throttle opening angle sensor 23. This error signal is fed to the information input of the key 19 and, in the absence of control actions on the brake pedals, the clutch and the accelerator, i.e. with the enable signal at the control input of the switch 19, is output to the power amplifier 20, from where, after amplification, to the electrical circuit of the actuator for controlling the throttle valve actuator (for example, the vacuum control valve in the vacuum chamber communicating with the engine intake path). Depending on the magnitude of the error amplified by the unit, the actuator sets the opening angle of the throttle valve via servo drive 22. At the same time, the throttle position sensor 23 generates a negative feedback signal used by the second subtraction circuit 14 to generate an error signal from the throttle position.

If the switch 3 introduces an additional fixed upper limit equal to the speed reached at that moment, the storage unit 4 detects the signal from sensor 1 at the indicated time-time. Further, until one of the switches 3, 7 or 8 has updated the contents of the storage unit 4, at its output there is a signal of the specified fixed level. Block 11 selects the smallest signal among those coming from blocks 10 | - Yun- The rest of the work of the regulator is no different.

The operation of the controller in section II of accelerated acceleration under the influence of particular lower speed limits on the part of the setting units 15i - 15k differs from that indicated by the following. The third subtraction circuit 17 generates a positive mismatch signal in this region. It is amplified by a unipolar amplifier 18, after which it is summed up by block 13 with a fixed-value signal outputted by limiting amplifier 12. As a result, block 13 generates a significantly larger speed error signal than in section I. This achieves acceleration of the transport

means in section II and automatic maintenance of speed above the level of the lower limits (Fig. 6 g and e).

Regulator operation in acceleration mode near the lower limit of the upper speed limits in the range of values

AV speed (i.e., the limitation threshold of block 12) in the acceleration section III is different in that the acceleration intensity depends on the magnitude of the mismatch between the actual speed and the lower limit of the upper

5 restrictions. In this mode, the signal from the output of the first subtraction circuit 2, fed to the amplifier-limiter 12, is not sufficient to put it into saturation mode, so that the signal at the output of block 12 is proportional to the magnitude of the signal generated by the error circuit 2. This ensures a smooth transition from the free acceleration mode with a fixed intensity (section I) to the mode of maintaining the upper speed limits (section IV). The rest of the work of the regulator

5 in this mode (phase III) is similar

described for sections I and II overclocking.

In lower limit mode

top private speed limits

(Section IV) first subtraction circuit 2

n produces a mismatch signal, the magnitude and sign of which, after being amplified by blocks 12 and 13, compensate for deviations of the actual speed from the variable upper limits, dictated by the limit (a, biv), and

5, the deviation values are within the specified fixed AV interval. Otherwise, the operation of the controller in the mode of maintaining the constraints is similar to that described for sections I and III.

During operation of the controller, modes are possible when the border of the lower limits closely approaches the border of the upper speed limits and the vehicle is automatically brought by the controller to the only effective (safe) mode of movement between them. This is the case, for example, when driving in dense traffic flows on highways. Exceeding the lower bound limit of the upper limit level

five

Velocity under normal conditions of operation is unacceptable and takes place only in emergency situations immediately before a vehicle collision, while the controller provides a safer approach mode closely behind the leader before hitting the back of the leading vehicle.

Switching to manual control when any of the sensors on the brake, clutch and accelerator pedals is triggered leads to a drop in the voltage of the source 24 to a zero level, which is also installed on the control input of the key 19. As a result, the latter locks the zero signal

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the signal from the speed sensor 1 to the input of the storage unit 33. The same signal after inverting the unit opens the key 32, providing the maximum speed signal from the source 6 to the input of the storage unit 33. At the same time, the block 33 is in the absence of constraints and its output signal rendering at the level of the maximum speed of movement, goes to one of the inputs of block 11 without causing speed limits.

As the speed increases, vehicle vibrations increase, which impairs its controllability, causes, from its output through power amplifier 20, driver fatigue and the likelihood of deterioration cuts off the electrical load from the driver. When vibrations reach such a servo-level control mechanism 21, that signal is proportional to their water 22 throttle. The torsor average amplitude from filter 26 is exceeded in this way, the signal value of the setpoint from the source is automatically disconnected, and the throttle movement of the target 28 is displaced, the comparator 27 is triggered and the control signal at its output is triggered by one. on the accelerator pedal (the one-shot 29 doesn’t show. It opens the key) .31 for the duration of the pulse. Last If it is necessary to reduce the speed, the speed signal from the sensor 1 of the vehicle passes, when the input of the storage unit 33, which is decelerated by a motor with relatively not 25 fixes the limitation at the moment of greater intensity, is sufficiently switched off by the speed of the threshold allowed by the vibrator 8 memorizing blockings (i.e. settings of block 27) This value 4 is saved by the signal from the source 9 of the signal of the zero block 33 even in the case of after-speed. The regulator is at the same time without affecting the growth rate. For all the time when the vehicle pedal controls the speed of the vibration threshold, the tool provides braking with a fixed-30 single signal from the output by the comparative intensity. Its operation at 27, after block inverting by the block, is similar to that described for the key 32, preventing signal-I from entering, with the only difference that the second maximum speed from the source, subtraction circuit 2 generates a signal 6 to the input of the storage unit 33. When the negative field is mismatched stability, lowering the speed below that which ensures the throttle-35 horn of permissible vibrations of the comparator valve 27. In order to stop returning to the initial state, re-braking, it is enough to switch to the storage unit 4 from the source 6 a signal of the maximum speed using the switch 7. After that, the controller operates according to the data points specified for modes I-IV.

The additional setting unit 102 of the upper speed limit (depending on the level of the vertical component of the vehicle vibration) functions

in the following way.

Sensor 25 generates a signal reflecting the magnitude of the vertical component of the vehicle's vibrations as it moves. This signal is smoothed by a low-pass filter 26, which outputs the storage unit 33 to the unrestricted state as indicated.

The setting unit 10 of the upper speed limit according to the conditions of the movement (depending on the relative speed and distance to the leader) works as follows.

When driving a vehicle

45, equipped with a directional antenna 34, the location sensor 35 forms, at the corresponding outputs, distance and velocity signals relative to the leader. The first of these signals is fed to the summing input of the subtractor 39, and at the first input of the comparator 27 it outputs a signal input from the source proportional to the average amplitude of the nick 40, a signal corresponding to the small output signal of the sensor 25. While the vehicle speed is not is great, the level of its vibrations is not sufficient for the signal from filter 26 to reach a fixed setpoint from source 28. At the output of comparator 27, the signal is zero, which blocks key 31, preventing entry niyu

constant a At the output of circuit 39, a distance difference signal is generated to the leader L and the small constant a.

Claims (7)

Invention Formula . Vehicle speed controller including sensor the signal from the speed sensor 1 to the input of the storage unit 33. The same signal after inverting the unit opens the key 32, providing the maximum speed signal from the source 6 to the input of the storage unit 33. At the same time, the block 33 is in the absence of constraints and its output signal rendering at the level of the maximum speed of movement, goes to one of the inputs of block 11 without causing speed limits. As the speed increases, vehicle vibrations increase, which impairs its handling, causing driver fatigue and the likelihood of damage to the load. When vibrations reach such a level that the signal proportional to their average amplitude from filter 26 exceeds the value of the setpoint signal from source 28, the comparator 27 is triggered and a single signal at its output starts the one-shot vibrator 29. It opens the key 31 for the duration of the pulse. The latter transmits the speed signal from sensor 1 to the input of storage unit 33, which fixes the limitation at the moment when the speed reaches the threshold of permissible vibrations (i.e., the setting of block 27). This value of block 33 retains even in the case of a subsequent increase in speed. For the entire time when the speed of vibration exceeds the threshold, a single signal from the output of the comparator 27 closes key 32 after inverting the block, preventing the maximum speed signal from source 6 from entering the storage unit 33. With a subsequent decrease in speed below the threshold of permissible vibrations, the comparator 27 returns to its original state, ceases its controllability, causes driver fatigue and the likelihood of damage to the cargo. When vibrations reach such a level that the signal proportional to their average amplitude from filter 26 exceeds the value of the setpoint signal from source 28, the comparator 27 is triggered and a single signal at its output starts the one-shot vibrator 29. It opens the key 31 for the duration of the pulse. The latter transmits the speed signal from sensor 1 to the input of storage unit 33, which fixes the limitation at the moment when the speed reaches the threshold of permissible vibrations (i.e., the setting of block 27). This value of block 33 retains even in the case of a subsequent increase in speed. For the entire time when the speed of vibration exceeds the threshold, a single signal from the output of the comparator 27 closes key 32 after inverting the block, preventing the maximum speed signal from source 6 from entering the storage unit 33. With a subsequent decrease in speed below the threshold of permissible vibrations, the comparator 27 returns to its original state, water storage unit 33 in the absence of restrictions in accordance with the specified. The setting unit 10 of the upper speed limit according to the conditions of the movement (depending on the relative speed and distance to the leader) works as follows. When driving a vehicle The location sensor 35 equipped with an extremely directional antenna 34 generates, at the corresponding outputs, distance and velocity signals relative to the leader. The first of these signals is fed to the summing input of the subtracting circuit 39, to the subtracting input of which the signal corresponding to the small signal comes from the source 40. reading input of which comes from source 40 a signal corresponding to a small constant a At the output of circuit 39, a distance difference signal is generated to the leader L and the small constant a. Invention Formula reading input of which comes from source 40 a signal corresponding to a small . Vehicle speed controller including sensor speed, the output of which is connected to the subtracting input of the first subtraction circuit and to the input of the first setter of the upper speed limit, made in the form of serially connected first switch and storage unit, the second subtraction circuit, the output of which through the power amplifier is connected to the electric motor of the actuator for controlling the throttle servo damper with which the throttle position sensor is mechanically connected with the input, the output of which is connected to the subtractive input of the second subtraction schemes, characterized in that, in order to extend the functionality by automatically taking into account the regulation of several partial upper and lower limits and ensuring automatic vehicle acceleration to the border of the upper speed limits, it is equipped with at least one additional upper speed limit adjuster speed limits according to the conditions of motion, the block of selection of the minimum signal, setters of lower speed limits, the block is allocated and a maximum signal, a third subtraction circuit, a unipolar amplifier, a limiting amplifier, a summing amplifier and a key, the first upper speed limit setter equipped with control elements, an additional upper speed limit set point connected to the output of the speed sensor, the outputs of the storage unit the first setpoint of the upper speed limit, the additional setpoint of the upper speed limit and the setpoint of the upper speed limit according to the conditions of motion are connected to the input The minimum signal allocation unit, the output of which is connected to the summing input of the first subtraction circuit, the output of which is connected via a limiting amplifier to the first input of the summing amplifier, the output connected to the summing input of the second subtraction circuit, and the outputs of the setters of the lower speed limits are connected to the inputs of the allocation unit the maximum signal, the output connected to the summing input of the third subtraction circuit, the output of which through a unipolar amplifier is connected to the second input of the summing amplifier And the output of the speed sensor is connected to the subtracting input of the third subtraction circuit. 2. The regulator according to claim 1, characterized in that the first setter of the upper speed limit is equipped with a one-shot, maximum speed signal source, second and third switches, the one-shot output connected to the input of the storage unit, one-shot input with a maximum speed signal source which is also connected via a second switch to the input of the storage unit connected via a third switch to a zero-speed signal source. 3. The regulator according to claim 1, characterized in that the additional setter of the upper speed limit, for example, depending on the level of the vehicle's vertical component of vibration, includes a sensor of the vehicle's vertical component, connected through the low-pass filter to the first input of the comparator, the second input of which is connected to a fixed level signal source, and an output to the inputs of a one-shot n inverter, connected by outputs to the control inputs of the first and second keys, respectively, and the output is connected to the information input of the first key 0 of the speed sensor, and to the information input of the second key is the source of the maximum speed signal, while the outputs of the keys are connected to the input of the storage unit, the output of which is connected to one 5 from the inputs of the minimum signal allocation unit. 4. The regulator according to claim 1, characterized in that at least one setter of the upper speed limit according to the motion conditions, for example, depending on the relative speed and distance to the leader, includes a directional antenna directed forward in the course of the movement sensor with two outputs for relative speed and leader distance signals, the first 5 of which are connected to the input of the divider of the dividing unit and the input of the divisible dividing unit into two, the input of the divider of which is connected to the source of the reference signal, and the second to the summing input of the circuit Q subtraction, to the subtraction input of which a fixed signal source corresponding to a small constant is connected, the output of the subtraction circuit is connected to the first input of the multiplication unit, the second input of which is connected to the signal source, 5 of the corresponding settable maximum achievable deceleration of the vehicle during braking, the output of the multiplication unit being connected to the input of a divisible division unit, the output of which is connected to the first input of the adder, 0 to the second input of which the output of the dividing unit is connected by two, the output of the adder is connected to one of the inputs of the minimum signal allocation unit. 5. The regulator according to claim 1, characterized in that the first unit of the lower limit  speeds, for example, depending on the level of the established minimum allowable speed on the road, includes placed at the beginning and end of sections roads with a lower speed limit, the sources of the signal limit, the outputs connected to the inputs of the respective transmitters with transmitting antennas connected via the air to the receiving antenna on the vehicle, connected to the input of the storage unit, the output of which is connected to one of the inputs of the allocation unit signal. 6. The controller according to claim 1, characterized in that each unit of the lower speed limit, for example, depending on the relative speed and distance to the vehicle behind the lead vehicle, includes an oriented 15 directional antenna backwards with the directional sensor with two outputs for relative speed and distance signals to a leading vehicle, connected respectively, and the second input of the block is connected to a signal source that is twice the value of the mouth decelerating the vehicle with under braking, the output is quadrant to the first summing input, the subtracting input is connected to the output of the multiplying unit, the summing input rum and a fixed signal corresponding to a small constant, the output totalizer functional converter according to one of the block inputs you maximum signal. 7. The regulator according to claim 1, characterized in that it is additionally provided with a control input of a switch with a signal source enabling the contact sensors of the switch included between the output of the second subtraction and the input of the amplifier to the inputs of the quad and the intelligent brake, clutch and accelerator unit. 70 Wtf.Z Fi.z the second input of the multiplication unit is connected to the signal source corresponding to twice the steady-state vehicle deceleration during deceleration, the quad output is connected to the first summing input of the adder, to the subtracting input of which the output of the multiplication unit is connected, and to the second summing input - source a fixed signal corresponding to a small constant, the output of the adder is connected via a functional converter to one of the inputs of the maximum signal extraction unit. 7. The controller according to claim 1, characterized in that it is additionally provided with a key connected between the output of the second subtraction circuit and the input of the power amplifier, wherein the control input of the key is connected to the signal source of the enabling level and the pedal contact sensors xU FIG. FIG. five th