WO2021169624A1 - 基于非机动车行驶行为的智能提示系统、方法及非机动车 - Google Patents

基于非机动车行驶行为的智能提示系统、方法及非机动车 Download PDF

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Publication number
WO2021169624A1
WO2021169624A1 PCT/CN2021/070689 CN2021070689W WO2021169624A1 WO 2021169624 A1 WO2021169624 A1 WO 2021169624A1 CN 2021070689 W CN2021070689 W CN 2021070689W WO 2021169624 A1 WO2021169624 A1 WO 2021169624A1
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WIPO (PCT)
Prior art keywords
motor vehicle
angle
turning
indicator light
acceleration
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PCT/CN2021/070689
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English (en)
French (fr)
Inventor
白翰
张晨香
张家亮
崔娜
张康宇
王修光
王国军
陈相融
陈启倪
Original Assignee
山东交通学院
山东正衢交通工程有限公司
山东正衢交通工程研究院
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Publication of WO2021169624A1 publication Critical patent/WO2021169624A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications

Definitions

  • the present disclosure relates to the technical field of non-motor vehicles, and in particular to an intelligent prompt system and method based on non-motor vehicle driving behaviors, and non-motor vehicles.
  • Non-motorized vehicles can not only alleviate traffic congestion, but are also green and environmentally friendly and can reduce environmental pollution.
  • most of the traffic accidents of non-motor vehicles occur at the moment of changing their driving conditions. Therefore, installing a device on a non-motorized vehicle that can intelligently prompt the surrounding pedestrians or vehicles when the non-motorized vehicle's driving behavior changes, which can effectively reduce the occurrence of traffic accidents.
  • the inventors of the present disclosure have discovered that most of the existing non-motor vehicle driving behavior prompting devices are separate turning prompting devices or braking prompting devices, without considering that the installation positions of the two devices are inconsistent in some cases, such as sometimes the two The indicator light reminding system of the device is installed in the same position of the non-motorized vehicle.
  • the two devices cannot cooperate well.
  • the prior art does not consider that when the human brain visual perception system receives external information, it is easier to receive signals from dynamically changing things, while static things are easily ignored.
  • most of the current non-motor vehicle driving behavior prompting devices only adopt The indicator light is on or other static prompt methods are used to prompt the surrounding pedestrians or vehicles.
  • the prior art does not take into account the intensive, low-cost and quickness of the non-motor vehicle driving behavior prompt function, and more provides a non-motor vehicle with a turning or braking prompt function, but the existing motor vehicles are large in quantity and popular A non-motor vehicle with a certain reminder function is more difficult.
  • the present disclosure provides an intelligent prompt system and method based on the driving behavior of a non-motorized vehicle, and a non-motorized vehicle, which can promptly pass the indicator light when the cyclist performs operations such as turning, braking, or accelerating forward.
  • the control system effectively prompts the surrounding pedestrians or vehicles to avoid friction, collisions or serious traffic accidents.
  • the first aspect of the present disclosure provides an intelligent prompt system based on the driving behavior of a non-motor vehicle.
  • An intelligent prompt system based on the driving behavior of a non-motor vehicle including a non-motor vehicle body and a main control module, an indicator light control module, an acceleration sensor module, an angle sensor module, and a position sensor module arranged on the non-motor vehicle body ;
  • the position sensing module is used to sense the current position of the non-motorized vehicle, determine whether the non-motorized vehicle is at the intersection position, and transmit the discrimination signal to the angle sensing module;
  • the angle sensing module is used for sensing the turning angle of the non-motor vehicle, combining the turning force switch signal and the non-motor vehicle position discriminating signal to determine whether the non-motor vehicle is in a turning state, and when in the turning state, the turning angle is transmitted to the main control Module
  • the acceleration sensing module is used to sense the acceleration signal of the non-motor vehicle, and when the absolute value of the acceleration of the non-motor vehicle is greater than a preset value, transmit the acceleration value to the main control module;
  • the indicator light control module includes a first controller and a plurality of indicator lights.
  • the main control module determines whether the current state of the non-motor vehicle has changed according to the received turning angle and acceleration value.
  • the first controller sends a control instruction to control the flashing of the corresponding indicator light.
  • the angle sensing module includes a turning angle sensing device and a second controller arranged on the down tube of the non-motor vehicle.
  • the two risers are fixedly connected;
  • the turning angle sensing device at least includes a housing, a rotatable inner cylinder, a charged protrusion fixed at one end of the inner cylinder and set at a preset angle, and a non-polar sensing block fixed on the housing at the same end as the charged protrusion;
  • the front fork and the down tube are perpendicular to each other to a certain angle, and the inner tube is rotated through a certain angle through the wire rope.
  • the charged protrusion on the inner tube contacts the electrodeless sensing block, and the turning angle sensing device senses the turning.
  • the direction and turning angle are transmitted to the second controller.
  • the indicator light includes at least a tail light arranged at the rear of the non-motor vehicle, the tail light includes an indicator light group inside, and the indicator light group includes a left turn indicator light, a right turn indicator light, and a brake indicator. Lights and accelerating forward indicator lights.
  • the system further includes a taillight rotation control module, the taillight rotation control module includes at least a third controller, a rotatable link and a convex mirror provided inside the taillight, and the indicator group is fixed on the connecting rod.
  • the connecting rod On the rod body of the rod, the connecting rod is vertically and fixedly connected with the convex mirror;
  • the second controller controls the rotation of the connecting rod according to the command of the main control module.
  • the connecting rod is offset by a certain angle from the vertical direction, and then drives the four light groups fixed on the connecting rod. Offset a certain angle, so that the shape of the taillight projects an upside-down and enlarged virtual image on the ground through the convex mirror, and the size of the virtual image and the distance between the virtual image and the rear of the non-motor vehicle change with the rotation angle of the connecting rod.
  • it also includes an information recording module, which is used to receive and save the driving position of the non-motorized vehicle from the main control module and the operation record performed at a certain position in real time, and is used to determine when the non-motorized vehicle is in the current geographic location again The operation to be performed to reduce false prompts.
  • an information recording module which is used to receive and save the driving position of the non-motorized vehicle from the main control module and the operation record performed at a certain position in real time, and is used to determine when the non-motorized vehicle is in the current geographic location again The operation to be performed to reduce false prompts.
  • the indicator light also includes a left handle indicator light arranged on the left handle of the non-motor vehicle and a right handle indicator light arranged on the right handle of the non-motor vehicle.
  • the rear surface of the tail lamp is provided with a reflector, so A plurality of LED lights are arranged around the reflector, and when any tail light receives a signal and lights up, the LED lights flicker along with the tail light.
  • the second aspect of the present disclosure provides a working method of an intelligent prompt system based on the driving behavior of a non-motor vehicle, using the intelligent prompt system based on the driving behavior of a non-motor vehicle as described in the first aspect of the present disclosure
  • the main control module determines that the non-motor vehicle is in a turning state, specifically:
  • the position sensing module senses that the non-motor vehicle is at an intersection
  • the angle sensing module senses that the deflection angle of the front fork relative to the down tube is greater than or equal to the first preset angle
  • the angle sensing module senses that the non-motorized vehicle has turned through a second predetermined angle.
  • the main control module calculates the angle that the connecting rod has turned according to the received turning angle and acceleration, specifically:
  • ⁇ is the angle that the connecting rod has turned
  • w is actually the angle that the front fork of the non-motorized vehicle has rotated compared to the down tube
  • w 0 is the critical angular velocity at which the non-motorized vehicle may be turning
  • a is actually the angle of the non-motorized vehicle.
  • Actual acceleration a 0 is the minimum acceleration that the central control unit receives from the acceleration sensor
  • ⁇ and ⁇ are coefficients.
  • the relationship between the size of the virtual image and the distance between the virtual image and the rear of the non-motor vehicle and the rotation angle of the connecting rod is specifically as follows:
  • the third aspect of the present disclosure provides a non-motorized vehicle, including the intelligent prompt system based on the non-motorized vehicle driving behavior described in the first aspect of the present disclosure.
  • the system described in the first aspect of the present disclosure links the turning, braking and acceleration prompting devices, so that the entire system can promptly sense when non-motorized vehicles turn left and make corresponding prompts.
  • the entire device is structurally
  • the simpler and more efficient prompt system avoids the need for customers to install two different systems on a non-motor vehicle at the same time, which is conducive to the popularization of the device.
  • the method described in the second aspect of the present disclosure realizes the accurate detection of the vehicle's driving condition of turning, and at the same time calculates the size and distance of the virtual image behind the vehicle through the acceleration value and the turning angle, so that the acceleration value and the turning angle are calculated.
  • the change is related to the change in the size and distance of the virtual image, thereby providing a dynamic intelligent prompt to pedestrians or vehicles around the non-motorized vehicle, which can effectively reduce the occurrence of traffic accidents.
  • FIG. 1 is a schematic diagram of the installation position of each module and indicator light provided in Embodiment 1 of the present disclosure on a non-motor vehicle.
  • FIG. 2 is a schematic diagram of the internal structure of the intelligent stepless sensor device for turning provided in Embodiment 1 of the disclosure.
  • FIG. 3 is a schematic diagram of the left and right handle indicator lights provided in Embodiment 1 of the present disclosure.
  • Fig. 4 is an internal schematic diagram of the intelligent taillight electrodeless prompting device provided in Embodiment 1 of the present disclosure when there is no rotation.
  • FIG. 5 is an internal schematic diagram of the intelligent taillight electrodeless prompting device provided by Embodiment 1 of the disclosure when it rotates through a certain angle.
  • FIG. 6 is a schematic front view of the smart tail light prompting device provided in Embodiment 1 of the disclosure.
  • Fig. 7 is an indication shape projected on the ground when turning left according to Embodiment 1 of the present disclosure.
  • Fig. 8 is an indication shape projected on the ground when turning right according to Embodiment 1 of the present disclosure.
  • FIG. 9 shows the shape of the indicator projected on the ground during braking provided by Embodiment 1 of the present disclosure.
  • Fig. 10 is an indication shape projected on the ground when accelerating, according to Embodiment 1 of the present disclosure.
  • FIG. 11 is a schematic diagram of the distance change of the indicator shape projected on the ground from the rear end of the non-motor vehicle provided by Embodiment 1 of the present disclosure.
  • FIG. 12 is a schematic flowchart of a working method of the non-motor vehicle driving behavior-based intelligent prompting system provided in Embodiment 2 of the disclosure.
  • Embodiment 1 of the present disclosure provides an intelligent prompt system based on the driving behavior of non-motor vehicles, including a left handle indicator light 1, a right handle indicator light 2, a tail light 3, a turning angle sensing device 4, and a position sensor.
  • the taillight rotation controller 9 is used as the third controller
  • the central control unit 10 is used as the main controller
  • the information recording module is the GPS behavior recorder 7
  • the position sensing module is the GPS position sensor 5;
  • the left handle indicator light 1 is arranged on the handlebar and close to the left handle 11
  • the right handle indicator light 2 is arranged on the handlebar and close to the right handle 12
  • the tail light 3 is arranged at the rear of the rear fender 13 with a turning angle.
  • the sensing device 4 is arranged at the down tube 14 of the non-motor vehicle, and is connected to the front fork 16 of the non-motor vehicle through a wire rope 15, a buckle, and connects the GPS position sensor 5, the acceleration sensor 6, the GPS behavior recorder 7, and the indicator light controller 8.
  • the taillight rotation controller 9 and the central control unit 10 are fixed as a whole and are arranged at the upper tube 17 of the non-motor vehicle.
  • the forced switch 18 is arranged on the handlebar and close to the right handle 12.
  • the turning angle sensing device includes: a cylindrical shell 19, an infinite induction block 20 fixed on the upper end of the cylindrical shell 19, an infinite induction block 21, an infinite induction block 22, an infinite induction block 23, and a rotatable inner cylinder 24.
  • the charged protrusion 25 fixed at the upper end of the inner cylinder, the main switch 26 that controls the opening and closing of the entire circuit, the wire 27 hovering in the cylinder, and the wire rope 15 that transmits the pulling force.
  • the tube 21 is connected, and the other end is fixed on the front fork 16 of the non-motorized vehicle by a buckle.
  • the front fork 16 When the non-motorized vehicle turns, the front fork 16 will rotate a certain angle relative to the down tube 14, so when the non-motorized vehicle turns, the front fork 16 and The straight-line driving state is offset by a certain angle, and then the inner cylinder 21 is driven to rotate through a certain angle by the traction of the wire rope 15, and the charged protrusion on the inner cylinder 21 contacts the electrodeless induction block 20 and the electrodeless induction block fixed on the upper inner end of the cylindrical shell 19 21. Infinite induction block 22 and infinite induction block 23, the angle between two adjacent induction blocks is 10°.
  • the GPS position sensor 5 installed at the upper tube 17 of the non-motor vehicle can sense the current position information of the non-motor vehicle, determine whether the non-motor vehicle is at the intersection at any time, and transmit this signal to the second corner of the turning angle sensing device 4 in real time. Two controllers.
  • Non-motorized vehicles are regarded as driving in a straight line.
  • the handlebar of a non-motor vehicle turns left and right at an angle of 5° ⁇ 15°
  • the non-motor vehicle is regarded as a turning state
  • the non-motor vehicle is not at the intersection, it is opened
  • the compulsory switch 18 regards the non-motorized vehicle as a turning state; if the non-motorized vehicle is not at an intersection and the compulsory switch 18 is not turned on, the non-motorized vehicle is regarded as a straight driving state.
  • the current state of the non-motor vehicle is regarded as a turning state.
  • the charged protrusion 25 is in contact with the electrodeless induction blocks 22 and 23; when turning to the right, the charged protrusion 25 is in contact with the electrodeless induction block 20 and the electrodeless induction block 21.
  • the turning angle sensing device 4 transmits the turning direction and turning angle signals to the central control unit 10.
  • the interior of the taillight 3 includes a rotatable rod 28 and an indicator light group fixed on the rotating rod 28, namely, a left turn indicator light 29, a right turn indicator light 30, a brake indicator light 31, and an accelerating forward indicator.
  • the taillight rotation controller 9 when the taillight rotation controller 9 receives the rotation angle signal from the central control unit 10, it will drive the rotatable rod 28 and the rotatable convex mirror 33 to rotate through a certain angle;
  • the indicator light controller 8 When the indicator light controller 8 receives the current non-motor vehicle driving state signal from the central control unit 10, it will turn on different circuits, thereby causing different indicator lights to light up. If the indicator light controller 8 receives the left turn signal from the central control unit 10, the left handle indicator light 1 and the left turn indicator light 29 inside the tail light will be on; if the indicator light controller 8 receives the central control unit 10 The right turn signal will make the right handle indicator light 2 and the right turn indicator 30 inside the tail light turn on; if the indicator light controller 8 receives the brake turn signal from the central control unit 10, it will turn on the brake indicator light inside the tail light 31 is on; if the indicator light controller 8 receives the acceleration forward signal from the central control unit 10, the acceleration forward indicator 32 inside the tail light will be on.
  • the central control element analyzes and judges the current state of the non-motor vehicle according to the received turning angle w real and acceleration a real signals, and transmits the result to the indicator light control system.
  • the central control element is received only when the acceleration sensing module coming from a real acceleration ⁇ 1m / s 2, the tail group to accelerate progress indicator light, and the retroreflective sheeting around a small LED lights flashing; when a ⁇ -1m / At s 2 , the brake indicator of the tail light group is on, and the small LED lights around the reflector are flashing.
  • the rotatable convex mirror 33 will upside down and project the shape of the indicator light inside the taillight onto the ground, and the distance between the indicating shape and the rear of the non-motor vehicle will vary with the rotation angle of the rotatable taillight and the rotatable convex mirror 33. Variety.
  • the ground display graph is as shown in Fig. 10;
  • FIG. 6 it is a front view of the taillight 3 of a non-motor vehicle.
  • the rear surface of the taillight 3 is provided with a reflective sheet 34.
  • a light source When a light source is illuminated at night, the light can be reflected back to the direction of the light source.
  • further small LED lights 35 are arranged around the reflector 34.
  • the indicator light controller 8 receives any indication signal from the central control unit, the small LED lights 35 flash to warn the surrounding pedestrians or vehicles and non-motor vehicles. state.
  • the acceleration sensor 6 installed at the upper tube 17 of the non-motor vehicle can sense the acceleration of the non-motor vehicle at all times. If the acceleration sensor 6 senses that the current acceleration value of the non-motor vehicle is greater than or equal to 1m/s 2 or less than or equal to -1m/s 2 , the acceleration signal will be sent to the central control unit 10; if the acceleration sensor 6 senses that the current acceleration of the non-motor vehicle is less than 1m/s or greater than -1m/s, it will not go to the center The control element 10 sends an acceleration value signal.
  • the GPS behavior recorder 7 installed at the upper tube 17 of the non-motorized vehicle can receive the operation information of the cyclist at a certain position from the central control unit 10, record and store it for many times, to determine if the non-motorized vehicle passes this place again. It is possible for the cyclist to perform an operation when it is in the position, and transmit this signal to the central control unit 10.
  • FIG 11 it is a schematic diagram of the distance between the indicator group of the taillight projected on the ground and the end of the non-motor vehicle; the size of the indicator light projected on the ground is k times the actual size of the indicator light, and k The size of will change with the change of the rotation angle of the internal rotating rod of the taillight; the distance between the indicator light and the rear of the non-motor vehicle is s, and the size of s will change with the change of the rotating angle of the internal rotating rod of the taillight.
  • the central control unit 10 installed at the upper tube 17 of the non-motorized vehicle can receive the real size and direction signal of the turning angle w from the turning angle sensor 4, and the current acceleration a real of the non-motor vehicle from the acceleration sensor 6 Signals, the non-motorized vehicle position information from the GPS position sensor 5, and the non-motorized vehicle from the GPS behavior recorder 7 signals that the cyclist performs operations when passing this position before, and the central control unit 10 makes the received signal Further processing, and the processing results are sent to the indicator light controller 8 and the tail light rotation controller 9.
  • This embodiment takes into account that the human brain’s visual perception system is easier to receive signals from dynamically changing things, and uses non-motorized vehicle taillights to change intelligently with changes in driving behavior; considering that people’s actions are difficult to be controlled by the brain in emergency situations, and It adopts an automatic prompt device based on driving behavior; when a cyclist takes a turn, brake or accelerates forward, the corresponding module automatically senses the change in the driving state, and the central control module intelligently controls the shape, size and size of the indicator taillight projected on the ground.
  • the distance from the rear of the non-motorized vehicle changes to achieve the purpose of intelligently prompting the surrounding pedestrians or vehicles, which improves the safety of driving and reduces the occurrence of traffic accidents.
  • This embodiment takes into account that most of the existing non-motor vehicles have simple structures and fewer electronic components.
  • the system described in this embodiment can intelligently prompt the surrounding pedestrians or vehicles when the non-motorized vehicle is turning, braking, and accelerating forward.
  • This embodiment takes into account that when a non-motor vehicle is traveling straight, the handlebar will swing to a certain extent due to uneven ground.
  • the intelligent stepless turning sensor will sense this swing angle, and then transmit it to the indicator light control system through the central control element. Mis-prompt the current status of non-motorized vehicles.
  • the entire device uses GPS positioning system and GPS behavior recorder to determine whether the non-motorized vehicle is currently at an intersection, and to perform operations performed by the cyclist at the same geographic location multiple times. Store and remember, so as to more accurately judge the intention of the cyclist at the current position, so as to reduce false prompts and improve the accuracy of the indicator light control system.
  • This embodiment takes into account that the non-motor vehicle prompting device involved in the current patent is mostly used to prompt the non-motor vehicle to turn or brake alone.
  • the present invention links the turning prompt device with the braking and acceleration forward prompting device, so that the entire system can promptly sense when the non-motor vehicle turns left, right, accelerate, and brake, and prompt accordingly.
  • the entire non-motor vehicle is simpler in structure, and the prompt system is more efficient, which prevents customers in need from installing two different systems on a non-motor vehicle at the same time, which is conducive to the popularization of the device.
  • Embodiment 2 of the present disclosure provides a working method of an intelligent prompt system based on non-motor vehicle driving behavior.
  • the intelligent prompt system based on non-motor vehicle driving behavior described in Embodiment 1 of the present disclosure includes The following steps:
  • Step 1 Install the left handle indicator light 1 on the handlebar near the left handle 11, the right handle indicator light 2 on the handlebar near the right handle 12, and the tail light 3 on the rear of the rear fender 13, the turning angle sensor device 4 Installed at the down tube 14 of the non-motor vehicle, and connected to the front fork 16 of the non-motor vehicle through the wire rope 15, the buckle, the GPS position sensor 5, the acceleration sensor 6, the GPS behavior recorder 7, the indicator light controller 8 , The taillight rotation controller 9 and the central control unit 10 are fixed as a whole, installed at the upper tube 17 of the non-motor vehicle, and the forced switch 18 is installed on the handlebar and close to the right handle 12.
  • Step 2 The GPS position sensor 5 is turned on to sense the current position of the non-motor vehicle at all times, and determine whether the non-motor vehicle is currently at the intersection, and transmit the sensed signal to the central control unit 10.
  • Step 3 When the handlebar of a non-motor vehicle swings to a certain extent, it will drive the front fork 16 to rotate, while the down tube 14 of a non-motor vehicle does not rotate when turning. Therefore, the front fork 16 of the non-motor vehicle has a certain degree of The angular deviation, that is, the rotation of the front fork 16 makes the two wire ropes 15 different in tension, and the two sides of the inner cylinder 24 are rotated due to the unequal pull of the two wire ropes 15, because the charged protrusion 25 at the upper end of the inner cylinder will follow the inner cylinder
  • the cylinder rotates together, and the position of the electrodeless induction block 20, the electrodeless induction block 21, the electrodeless induction block 22, and the electrodeless induction block 23 at the upper end of the cylindrical shell remains unchanged, so the charged protrusion 25 will be in contact with the electrodeless induction block 20 and the electrodeless induction block 21.
  • the infinite induction block 22 and the infinite induction block 23 change from a non-contact state to a contact state
  • the critical angle for changing from a non-contact state to a contact state is defined as 5°, that is, if the handlebar deflection to the left and right does not exceed 5°, the turning angle sensor 4 will not sense this Changes, non-motorized vehicles are still regarded as driving in a straight line.
  • the handlebar of a non-motor vehicle is deflected from 5° to 15° to the left and right, further judgment will be made based on the position signal from the GPS position sensor 5; if the non-motor vehicle is located at the intersection, the non-motor vehicle will be regarded as Turning state; if the non-motor vehicle is not located at the intersection, but the non-motor vehicle mandatory switch is manually turned on, the non-motor vehicle is also regarded as a turning state; if the non-motor vehicle is not located at the intersection and the mandatory switch is not turned on, the non-motor vehicle is regarded as a turning state. Straight driving state.
  • the non-motorized vehicle's handlebar deflection to the left or right is greater than or equal to 15°, regardless of whether the non-motorized vehicle is located at the intersection, the non-motorized vehicle will be regarded as a turning state.
  • the charged protrusion 25 contacts the infinite induction fast 22 and the infinite induction fast 23.
  • the non-motor vehicle handlebar swings to the right, the charged protrusion 25 and the infinite induction block 20, Promise induction fast 21 touches.
  • Step 4 When the turning angle sensor 4 determines that the non-motor vehicle is currently turning, it will send the turning angle a real and turning direction signal to the central control unit 10.
  • Step 5 The acceleration sensor 6 is turned on and can sense the current acceleration of the non-motor vehicle in real time. If it senses that the acceleration a is greater than or equal to 1m/s 2 , the acceleration sensor 6 sends an acceleration state signal to the central control unit 10 ; If it senses that the acceleration a is greater than or equal to -1m/s 2 , the acceleration sensor 6 sends a braking state signal to the central control unit 10. If it senses acceleration
  • the central control unit 10 receives the turning angle w real and the acceleration absolute value a real from the turning angle sensor 4 and the acceleration sensor 6 into the following formula;
  • ⁇ is the rotation angle of the rotating rod in the taillight
  • w is actually the angle that the front fork of the non-motorized vehicle has rotated compared to the down tube
  • w 0 is the critical angular velocity at which the non-motorized vehicle may be turning, and the value is 5°
  • a It is the actual acceleration of the non-motor vehicle
  • a 0 is the minimum acceleration that the central control element receives from the acceleration sensor, and the value is 1m/s 2 ;
  • the value of ⁇ is 0.72 and the value of ⁇ is 0.28.
  • Step 6 The central control unit 10 transmits the processed result ⁇ and the current driving state signal of the non-motor vehicle to the tail light rotation controller 9 and the indicator light controller 8.
  • Step 7 The tail light rotation controller 9 receives the calculation result ⁇ from the central control unit 10, and controls the rotating rod 28 inside the tail light to also rotate the corresponding angle ⁇ .
  • Step 8 The indicator light is on.
  • the controller 8 receives the non-motor vehicle driving state signal from the central control unit, and controls the corresponding indicator light to light up.
  • the controller 8 receives the left turn signal from the central control unit 10. Small LED35 flashes;
  • the controller 8 receives the right turn signal from the central control unit 10. LED light 35 flashes;
  • the controller 8 receives the braking signal from the central control unit 10, the brake indicator light inside the taillight lights up 31, and the small LED light 35 on the surface of the taillight flashes.
  • the controller 8 receives the acceleration signal from the central control unit 10, the acceleration indicator light inside the taillight lights 32, and the small LED35 on the surface of the taillight flashes.
  • the indicator light is on.
  • the controller 8 will only receive the left or right turn signal from the central control unit 10, that is, the left handle indicator light 1, the left turn indicator inside the tail light
  • the light 29 is on, or the right handle indicator 2 and the right turn indicator inside the tail light are on, and the small LED light 35 on the surface of the tail light is on.
  • Step 9 As shown in FIG. 11, a schematic diagram of the distance change between the indicator group of the internal tail light projected on the ground and the rear end of the non-motor vehicle in this embodiment;
  • the rotatable rod 28 is controlled by the tail light rotation controller 9 to rotate a corresponding angle.
  • the internal indicator light group of the taillight is fixed on the rotatable rod 28 and rotates together with the rotatable rod 28.
  • the different indicator lights inside the taillight will be projected on the ground through the rotatable convex lens 33 at the bottom of the taillight, which is inverted and enlarged. Virtual image.
  • Step 10 The GPS behavior recorder 7 will automatically record and store the operations performed by the non-motorized vehicle at the current location. After recording multiple data at the same location, process and analyze the data; when the non-motorized vehicle passes this location again, according to the current Driving behavior, make judgments, revise errors, reduce misoperations, and improve the accuracy of the prompt system.
  • the system described in this embodiment utilizes when a non-motorized vehicle is turning, the front fork will be driven to rotate due to the cyclist turning the handlebar, which in turn causes the front fork and the down tube to have the characteristics of a relative rotation angle, and adopts the infinite sensor block to intelligently sense This rotation angle w is real .
  • the stepless sensing block fixed on the upper end of the inner shell of the turning angle sensing device is divided into four parts, the angle between the two parts is 10°, that is, when the handlebar swings to the left and right no more than 5° , Regard the non-motor vehicle as a straight driving state; when the non-motor vehicle handlebar swings from 5° to 15°, the non-motor vehicle is in a straight driving or turning state; when the non-motor vehicle handles when the left-right swing amplitude is greater than 15 °, the vehicle will be considered non-turning condition,
  • Promise smart sensor senses a speed of the real turning angle w, to a central control element, the current acceleration of the vehicle and with a solid non-built
  • the relationship is further transmitted to the taillight rotation control module through the central control element, so that the taillights can rotate through a certain angle, and furthermore, the indicator signs projected on the ground by the taillights become larger and the distance from the non-motorized vehicle becomes longer, so as to prevent pedestrians around the non-motorized
  • the third embodiment of the present disclosure provides a non-motorized vehicle, including the intelligent prompt system based on the non-motorized vehicle driving behavior described in the first embodiment of the present disclosure.

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Abstract

一种基于非机动车行驶行为的智能提示系统、方法及非机动车，涉及非机动车技术领域，包括主控模块、指示灯控制模块、加速度感测模块、角度感测模块和位置感测模块；解决了现有的非机动车行车状态改变时提醒能力较差的问题，考虑到了人脑视觉感知系统更易接收动态变化事物传来的信号，而利用非机动车尾灯（3）随行驶行为的变化而智能变化，考虑到人在紧急情况下，行动很难受大脑控制，而采取根据驾驶行为自动提示装置，当骑行人采取转弯、刹车或加速前进操作时，相应模块自动感测到行驶状态变化，通过主控模块，控制指示尾灯（3）投射在地面上的形状、大小及距非机动车尾部距离，提高行驶的安全性，减少交通事故的发生。

Description

基于非机动车行驶行为的智能提示系统、方法及非机动车 技术领域
本公开涉及非机动车技术领域，特别涉及一种基于非机动车行驶行为的智能提示系统、方法及非机动车。
背景技术
本部分的陈述仅仅是提供了与本公开相关的背景技术，并不必然构成现有技术。
非机动车不仅能够缓解交通拥堵问题，而且绿色环保，能够减少环境污染。但由于非机动车结构简单，所用电子元件少，缺乏转弯、刹车、加速前进等指示装置，所以非机动车周围行人或行驶车辆往往因无法准确判断骑车人意图，而导致交通事故的发生。据有关统计，非机动车发生的交通事故中，大都发生在改变其行驶状态的一瞬间。因此，在非机动车上安装一种在非机动车行驶行为发生改变时，能智能给周围行人或车辆做出提示的装置，就可以有效的减少交通事故的发生。
本公开发明人发现，现有的非机动车驾驶行为提示装置，大都是单独的转弯提示装置或者刹车提示装置，未考虑到在某些情况下二者装置安装位置是相悖的，如有时两者装置的指示灯提示系统安装于非机动车同一位置，在骑行人想要在非机动车上同时安装转弯提示装置及刹车装置时，两者装置无法很好的配合。
现有技术中未考虑到人脑视觉感知系统在接受外部信息时，更易接收动态变化事物传来的信号，而静态事物很容易被忽略，但目前的非机动车行驶行为提示装置大多是仅采取指示灯亮或其他静态提示方法，对周围行人或车辆进行提示。
另外，现有技术中未考虑到人在紧急情况下，身体机能反应会不由自主的做出判断，很难受大脑指挥。但目前所涉及的非机动车行驶行为提示装置多需要人手动控制，然而事实是，人在紧急情况下很容易忘记手动操作，或进行误操作。
最后，现有技术中未考虑到非机动车行驶行为提示功能的集约型、低成本与快捷性，而多提供一种具有转弯或刹车提示功能的非机动车，但现有机动车量大，普及一种带有某种提示功能的非机动车较为困难。
发明内容
为了解决现有技术的不足，本公开提供了一种基于非机动车行驶行为的智能提示系统、方法及非机动车，能够在骑车人执行转弯、刹车或加速前进等操作时及时通过指示灯控制系统，有效的给周围行人或车辆进行提示，以避免摩擦、碰撞或严重交通事故的发生。
为了实现上述目的，本公开采用如下技术方案：
本公开第一方面提供了一种基于非机动车行驶行为的智能提示系统。
一种基于非机动车行驶行为的智能提示系统，包括非机动车本体和设置在非机动车本体上的主控模块、指示灯控制模块、加速度感测模块、角度感测模块和位置感测模块；
所述位置感测模块，用于感应非机动车当前位置，并判断非机动车是否处在交叉口位置，将判别信号传给角度感测模块；
所述角度感测模块，用于感应非机动车转弯角度，结合转弯强制开关信号和非机动车位置判别信号判断非机动车是否处于转弯状态，当处于转弯状态时，将转弯角度传输给主控模块；
所述加速度感测模块，用于感应非机动车的加速度信号，当非机动车的加速度绝对值大于预设值时，传输加速度值给主控模块；
所述指示灯控制模块包括第一控制器和多个指示灯，主控模块根据接收到的转弯角度和加速度值判断非机动车的当前状态是否发生改变，当非机动车的状态发生改变时向第一控制器发送控制指令，控制相应指示灯的闪烁。
作为可能的一些实现方式，所述角度感测模块包括设置于非机动车下管上的转弯角度感应装置和第二控制器，所述转弯角度感应装置通过钢丝绳和卡扣与非机动车前叉的两立管固定连接；
所述转弯角度感应装置至少包括外壳、可旋转的内筒、固定在内筒一端的以预设角度设置的带电突起和固定在外壳上与带电突起同端的无极感应块；
非机动车转弯时前叉与下管由相互垂直至转过一定角度，通过钢丝绳带动内筒转过一定角度，内筒上带电突起与无极感应块接触，此时转弯角度感应装置感测到转弯方向和转弯角度并传输给第二控制器。
作为可能的一些实现方式，所述指示灯至少包括设置于非机动车后部的尾灯，所述尾灯内部包括指示灯组，所述指示灯组包括左转指示灯、右转指示灯、刹车指示灯和加速前进指示灯。
作为进一步的限定，所述系统还包括尾灯旋转控制模块，所述尾灯旋转控制模块至少包括第三控制器以及设于尾灯内部的可旋转的连杆和凸面镜，所述指示灯组固定在连杆的杆体上，所述连杆与凸面镜垂直固定连接；
当非机动车的状态发生改变时，第二控制器根据主控模块的指令控制连杆的转动，连杆由竖直方向偏移一定的角度，进而带动固定在连杆上的四个灯组偏移一定的角度，从而使得 尾灯形状透过凸面镜，在地面上投射出倒立和放大的虚像，且虚像的尺寸和虚像距离非机动车尾部的距离随着连杆转动角度的变化而变化。
作为进一步的限定，还包括信息记录模块，用于实时接收并保存主控模块传来的非机动车行驶位置以及在某位置时所执行操作记录，用于判断当非机动车再次处于当前地理位置所要执行的操作以减少误提示。
作为进一步的限定，所述指示灯还包括设置于非机动车左把手上的左把手指示灯和设置于非机动车右把手上的右把手指示灯，所述尾灯后表面设置有反光片，所述反光片周围设有多个LED灯，当任一尾灯接收到信号并亮起时，LED灯伴随尾灯闪烁。
本公开第二方面提供了一种基于非机动车行驶行为的智能提示系统的工作方法，利用本公开第一方面所述的基于非机动车行驶行为的智能提示系统，
当满足以下条件之一时，主控模块判定非机动车处于转弯状态，具体为：
当位置感测模块感测到非机动车处于交叉口，且角度感测模块感测到前叉较下管偏转角度大于或者等于第一预设角度；
当位置感测模块感测到非机动车未在交叉口，但转弯强制开关已开启；
当位置感测模块感测到非机动车未在交叉口，且未开启转弯强制开关，但角度感测模块感测到非机动车转过第二预设角度。
作为可能的一些实现方式，主控模块根据接受到的转弯角度与加速度，计算连杆转过的角度，具体为：
Figure PCTCN2021070689-appb-000001
其中，θ为连杆转过的角度，w 实为非机动车前叉相较于下管转过的角度；w 0为非机动车可能处于转弯状态的临界角速度；a 实为非机动车的实际加速度；a 0为中央控制元接收到加速度传感器传来的最小加速度；α和β值为系数。
作为进一步的限定，连杆转动时，虚像的尺寸和虚像距离非机动车尾部的距离与连杆转动角度的关系，具体为：
Figure PCTCN2021070689-appb-000002
s＝u tan θ
其中，k为尾灯内部指示灯投射在地面时其放大倍数；s为投射在地面上的指示形状距非机动车尾端的距离；v为尾灯内部指示灯组距可旋转凸面镜的距离；u为尾灯底部距行驶 地面的距离；θ为尾灯内部旋转杆转过的角度。
本公开第三方面提供了一种非机动车，包括本公开第一方面所述的基于非机动车行驶行为的智能提示系统。
与现有技术相比，本公开的有益效果是：
1、本公开第一方面所述的系统，将转弯、刹车和加速提示装置联系起来，使整个系统在非机动车左转弯、时都能及时感应，并做处相应提示，整个装置在结构上更加简约、提示系统更加高效，避免了有需求的客户在一个非机动车上同时安装两组不同系统，有利于装置的普及。
2、本公开第二方面所述的方法，实现了对转弯这一车辆行驶状况的精确检测，同时通过加速度值和转弯角度来计算车后虚像的大小和距离，进而使得加速度值和转弯角度的变化与虚像的大小和距离的变化相关联，从而对非机动车周围的行人或车辆起到动态的智能提示作用，能有效减少交通事故的发生。
附图说明
构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实例及及其说明用于解释本申请，并不构成对本申请的不当限定。
图1为本公开实施例1提供的各模块及指示灯在非机动车上安装位置示意图。
图2为本公开实施例1提供的转弯智能无极感应装置内部结构示意图。
图3为本公开实施例1提供的左右把手指示灯示意图。
图4为本公开实施例1提供的智能尾灯无极提示装置无旋转时内部示意图。
图5为本公开实施例1提供的智能尾灯无极提示装置旋转过一定角度时内部示意图。
图6为本公开实施例1提供的智能尾灯提示装置的正面示意图。
图7为本公开实施例1提供的左转时投射在地面的指示形状。
图8为本公开实施例1提供的右转时投射在地面的指示形状。
图9为本公开实施例1提供的刹车时投射在地面的指示形状。
图10为本公开实施例1提供的加速前进时投射在地面的指示形状。
图11为本公开实施例1提供的投射在地面指示形状距非机动车尾端距离变化示意图。
图12为本公开实施例2提供的基于非机动车行驶行为的智能提示系统的工作方法的流程示意图。
1-左把手指示灯；2-右把手指示灯；3-尾灯；4-转弯角度感应装置；5-GPS位置传感器；6-加速度感测器；7-GPS行为记录仪；8-指示灯控制器；9-尾灯旋转控制器；10-中央 控制元；11-左把手；12-右把手；13-后挡泥板；14-非机动车下管；15-钢丝绳；16-非机动车前叉；17-非机动车上管；18-强制开关；19-圆柱体外壳；20-无极感应块；21-无极感应块；22-无极感应块；23-无极感应块；24-可旋转内筒；25-带电突起；26-总开关；27-导线；28-可旋转杆；29-左转指示灯；30-右转指示灯；31-刹车指示灯；32-加速前进指示灯；33-可旋转凸面镜；34-反光片；35-LED灯。
具体实施方式
应该指出，以下详细说明都是示例性的，旨在对本公开提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本公开所属技术领域的普通技术人员通常理解的相同含义。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本公开的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
实施例1：
如图1所示，本公开实施例1提供了一种基于非机动车行驶行为的智能提示系统，包括左把手指示灯1、右把手指示灯2、尾灯3、转弯角度感应装置4、位置感测模块、加速度感测器6、信息记录模块、指示灯控制器8、尾灯旋转控制器9、中央控制元10；其中转弯角度感应装置4包括有第二控制器，指示灯控制器8作为第一控制器，尾灯旋转控制器9作为第三控制器，中央控制元10作为主控制器，信息记录模块采用GPS行为记录仪7，位置感测模块为GPS位置传感器5；
其中，左把手指示灯1设置于车把上且靠近左把手11处，右把手指示灯2设置于车把上且靠近右把手12处，尾灯3设置于后挡泥板13尾部处，转弯角度感应装置4设置于非机动车下管14处，通过钢丝绳15、卡扣与非机动车前叉16相连，把GPS位置传感器5、加速度感测器6、GPS行为记录仪7、指示灯控制器8、尾灯旋转控制器9、中央控制元10固定成一整体，设置于非机动车上管17处，强制开关18设置于车把上且靠近右把手12处。
如图2所示，转弯角度感应装置包括：圆柱体外壳19、固定在圆柱体外壳19内部上端的无极感应块20、无极感应块21、无极感应块22、无极感应块23、可旋转内筒24、固定在内筒上端的带电突起25、控制整个回路开闭的总开关26、盘旋在圆筒内的导线27以及传递拉力的钢丝绳15，其中钢丝绳一端与转弯角度感应装置4的可旋转内筒21相连，另一端通过卡扣固 定在非机动车的前叉16上，由于非机动车转弯时前叉16会较下管14转过一定角度，所以非机动车转弯时，前叉16与直线行驶状态偏移一定角度，进而通过钢丝绳15的牵引带动内筒21转过一定角度，进一步内筒21上的带电突起接触到固定在圆柱体外壳19上部内端的无极感应块20、无极感应块21、无极感应块22和无极感应块23，相邻两无极感应块之间夹角为10°。
安装在非机动车上管17处的GPS位置传感器5，能感测非机动车当前位置信息，时刻判断非机动车是否处于交叉口，并将此信号即时传递给转弯角度感应装置4中的第二控制器。
当非机动车车把向左、向右转动不超过5°时，带电突起25并不会与无极感应块20、无极感应块21、无极感应块22和无极感应块23接触，即系统将非机动车视为直线行驶状态。
当非机动车车把向左、向右转过角度在5°～15°时，若非机动车处于交叉口处，将非机动车视为转弯状态；若非机动车未处于交叉口处，但打开强制开关18，将非机动车视为转弯状态；若非机动车未处于交叉口，且未打开强制开关18，则将非机动车视为直线行驶状态。
当非机动车车把向左、向右转过角度超过15°时，无论是否打开强制开关18，都将非机动车当前状态视为转弯状态。其中左转时，带电突起25与无极感应块22、23接触；右转时，带电突起25与无极感应块20、无极感应块21接触。
转弯角度感应装置4将转弯方向及转弯角度信号传递给中央控制元10。
如图3和图4所示，尾灯3内部包括可旋转杆28、固定在旋转杆28上的指示灯组，即左转指示灯29、右转指示灯30、刹车指示灯31、加速前进指示灯32，以及设置于尾灯底部的可旋转凸面镜33。
如图5所示，当尾灯旋转控制器9接收到中央控制元10传来的旋转角度信号后，会驱动可旋转杆28和可旋转凸面镜33转过一定角度；
当指示灯控制器8接收到中央控制元10传来的当前非机动车行驶状态信号后，会使不同的电路导通，进而使得不同的指示灯亮。若指示灯控制器8接收到中央控制元10传来左转信号，会使左把手指示灯1及尾灯内部的左转指示灯29亮；若指示灯控制器8接收到中央控制元10传来的右转信号，会使右把手指示灯2及尾灯内部的右转指示灯30亮；若指示灯控制器8接收到中央控制元10传来的刹车转信号，会使尾灯内部的刹车指示灯31亮；若指示灯控制器8接收到中央控制元10传来的加速前进信号，会使尾灯内部的加速前进指示灯32亮。
具体规则如下：
中央控制元根据接收到的转弯角度w 实及加速度a 实信号，分析判断非机动车当前所处状态，并将结果传给指示灯控制系统。
规定一：当中央控制元仅接收到角度感测模块传来的转弯角度w 实信号时，左(右)把手指示灯与尾灯组中左(右)转灯亮，且反光片周围小型LED灯闪亮。
规定二：当中央控制元仅接收到加速度感测模块传来的加速度a 实≥1m/s 2时，尾灯组加速前进指示灯亮，且反光片周围小型LED灯闪亮；当a≤-1m/s 2时，尾灯组刹车指示灯亮，且反光片周围小型LED灯闪亮。
规定三：当中央控制元同时接收到角度感测模块传来的转弯角度w 实与加速度感测模块传来的加速度a 实时，指示灯亮情况同规定一。
可旋转凸面镜33会将尾灯内部指示灯的形状倒立、放大投射到地面上，且指示形状距非机动车尾部的距离，会随着可旋转尾灯及可旋转凸面镜33的旋转角度的变化而变化。
左转指示灯29亮时，地面显示图形如图7所示；
右转指示灯30亮时，地面显示图形如图8所示；
刹车指示灯31亮时，地面显示图形如图9所示；
加速前进灯32亮时，地面显示图形如图10所示；
如图6所示，为非机动车尾灯3正视图，其中尾灯3后表面设置有反光片34，在夜晚有光源照射时，能够将光反射回光源方向，使非机动车在夜晚行驶时更加安全，进一步反光片34周围设置有小型LED灯35，当指示灯控制器8接收到中央控制元传来的任一指示信号时，小型LED灯35闪烁，以警示周围行人或车辆非机动车当前状态。
安装在非机动车上管17处的加速度感测器6，能够时刻感测非机动车加速度，若加速度感测器6感测到非机动车当前加速度的值大于等于1m/s 2或者小于等于-1m/s 2时，便会将加速度信号发送给中央控制元10；若加速度感测器6感测到非机动车当前加速度小于1m/s或者大于-1m/s时，则不会向中央控制元10发送加速度值信号。
安装在非机动车上管17处的GPS行为记录仪7，能够接收中央控制元10传来的在某位置骑车人的操作信息，多次记录并储存，以判断在非机动车再次经过此位置时，骑车人有可能进行的操作，并将此信号传递给中央控制元10。
如图11所示，为本发明尾灯内部指示灯组投射在地面指示形状距非机动车尾端距离变化示意图；其中投射在地面上指示灯形状的大小是指示灯真实大小的k倍，且k的大小会随尾灯内部旋转杆旋转角度的变化而变化；其中指示灯距非机动车尾部的距离为s，且s的大小会随尾灯内部旋转杆旋转角度的变化而变化。
安装在非机动车上管17处的中央控制元10，能够接收转弯角度感测器4传来的转弯角度w 实大小及方向信号、加速度感测器6传来的非机动车当前加速度a 实信号、GPS位置传感器5传 来的非机动车位置信息、GPS行为记录仪7传来的非机动车以前经过此位置时骑车人所执行操作的信号，中央控制元10将接收到的信号做进一步处理，并将处理结果发送给指示灯控制器8及尾灯旋转控制器9。
本实施例考虑到人脑视觉感知系统更易接收动态变化事物传来的信号，而利用非机动车尾灯随行驶行为的变化而智能变化；考虑到人在紧急情况下，行动很难受大脑控制，而采取根据驾驶行为自动提示装置；当骑行人采取转弯、刹车或加速前进等操作时，相应模块自动感测到行驶状态变化，通过中央控制模块，智能控制指示尾灯投射在地面上的形状、大小及距非机动车尾部距离的变化而变化，达到智能提示周围行人或车辆的目的，提高了行驶的安全性，减少了交通事故的发生。
本实施例考虑到现有的非机动车大都结构简单，电子元件较少，在非机动车进行转弯、刹车以及加速前进时，周围行人或车辆很难及时判断骑车人意图，进而引起摩擦、碰撞或严重的交通事故。所以本实施例所述的系统，能够在非机动车进行转弯、刹车及加速前进时能够智能的给周围行人或车辆进行提示。
本实施例考虑到非机动车在直行时会由于地面凹凸不平，车把会存在一定幅度的摆动，智能无极转弯感应装置会感应到此摆动角度，进一步通过中央控制元传给指示灯控制系统，对非机动车当前状态误提示，据此整个装置利用GPS定位系统和GPS行为记录仪，来判断非机动车当前是否处于交叉口，以及对骑车人多次在同一地理位置所执行的操作进行储存、记忆，从而更加准确判断骑车人在当前位置的意图，以减少误提示，提高指示灯控制系统的准确性。
本实施例考虑到在当前专利所涉及非机动车提示装置，大多是单独的对非机动车转弯或刹车进行提示。本发明将转弯提示装置和刹车及加速前进提示装置联系起来，使整个系统在非机动车左转弯、右转弯、加速前进、刹车时都能及时感应，并做处相应提示。整个非机动车在结构上更加简约，提示系统更加高效，避免有需求的客户在一个非机动车上同时安装两组不同系统，有利于装置的普及。
实施例2：
如图12所示，本公开实施例2提供了一种基于非机动车行驶行为的智能提示系统的工作方法，利用本公开实施例1所述的基于非机动车行驶行为的智能提示系统，包括以下步骤：
步骤一：将左把手指示灯1安装在车把靠近左把手11处，右把手指示灯2安装在车把靠近右把手12处，尾灯3安装在后挡泥板13尾部处，转弯角度感应装置4安装在非机动车下管14处，并通过钢丝绳15、卡扣与非机动车前叉16相连，把GPS位置传感器5、加速度感测器6、GPS行 为记录仪7、指示灯控制器8、尾灯旋转控制器9、中央控制元10固定为一整体，安装在非机动车上管17处，强制开关18安装在车把上且靠近右把手12处。
步骤二：GPS位置传感器5开启，时刻感测非机动车当前位置，并判断当前非机动车是否在交叉口处，并将所感测信号传递给中央控制元10。
步骤三：当非机动车车把有一定幅度摆动时会带动前叉16旋转，而非机动车下管14在转弯时并不会发生旋转，所以非机动车前叉16较下管14有一定角度的偏移，即前叉16的旋转使得两条钢丝绳15拉力不同，而内筒24两侧因受两根钢丝绳15的不等拉力而发生旋转，由于内筒上端的带电突起25会随内筒一起旋转，而圆柱体外壳内部上端的无极感应块20、无极感应块21、无极感应块22、无极感应块23位置无变化，所以带电突起25便会和无极感应块20、无极感应块21、无极感应块22、无极感应块23由未接触状态变化为接触状态。
根据经验，将其由未接触状态变化为接触状态这一临界角度规定为5°，即如果车把向左向右偏转不超过5°时，转弯角度感测器4并不会感测到此变化，仍将非机动车视为直线行驶。
如果非机动车车把向左向右偏转在5°～15°时，则会根据GPS位置传感器5传来的位置信号作进一步判断；若非机动车位于交叉口处，则将非机动车视为转弯状态；若非机动车没有位于交叉口处，但人为打开非机动车强制开关，也将非机动车视为转弯状态；若没有位于交叉口处，且未打开强制开关，将非机动车视为直线行驶状态。
如果非机动车车把向左向右偏转大于等于15°，无论非机动车是否位于交叉口处，都将非机动车视为转弯状态。
进一步的，非机动车车把向左摆动大于5°时，带电突起25与无极感应快22、无极感应快23接触，非机动车车把向右摆动时，带电突起25与无极感应块20、无极感应快21接触。
步骤四：当转弯角度感测器4判断非机动车当前处于转弯状态时，便会向中央控制元10发送转弯角度a 实及转弯方向信号。
步骤五：加速度感测器6开启，且能够实时感测非机动车当前加速度，若其感测到加速度a 实≥1m/s 2时，加速度感测器6向中央控制元10发送加速状态信号；若其感测到加速度a 实≥-1m/s 2时，加速度感测器6向中央控制元10发送刹车状态信号。若其感测到加速度|a 实|≤1m/s 2时，加速度感测器不会向中央控制元发10送加速度信号。
中央控制元10接收到转弯角度感测器4和加速度感测器6传来的转弯角度w 实、加速度绝对值a 实的大小代入以下公式；
Figure PCTCN2021070689-appb-000003
其中θ为尾灯内旋转杆转过角度；w 实为非机动车前叉相较于下管转过的角度；w 0为非机动车可能处于转弯状态的临界角速度，取值为5°；a 实为非机动车的实际加速度；a 0为中央控制元接收到加速度传感器传来的最小加速度，取值为1m/s 2；根据专家打分法，及w 实、a 实的实际取值范围，规定α值为0.72，β值为0.28。
步骤六：中央控制元10将处理得到的结果θ，以及非机动车当前行驶状态信号，传递给尾灯旋转控制器9和指示灯亮控制器8。
步骤七：尾灯旋转控制器9接收到中央控制元10传来的计算结果θ，控制尾灯内部的旋转杆28也旋转相应的角度θ。
步骤八：指示灯亮控制器8接收到中央控制元传来的非机动车行驶状态信号，会控制相应的指示灯亮。
若非机动车仅处于左转弯状态，即指示灯亮控制器8接收到中央控制元10传来的左转信号，则左把手指示灯1亮、尾灯内部的左转指示灯29亮，同时尾灯表面的小型LED35闪烁；
若非机动车仅处于右转状态，即指示灯亮控制器8接收到中央控制元10传来的右转信号，则右把手指示灯亮2，尾灯内部的右转指示灯30亮，同时尾灯表面的小型LED灯35闪烁；
若非机动车处于刹车状态，即指示灯亮控制器8接收到中央控制元10传来的刹车信号，则尾灯内部的刹车指示灯亮31，同时尾灯表面的小型LED灯35闪烁。
若非机动车仅处于加速前进状态，即指示灯亮控制器8接收到中央控制元10传来的加速前进信号，则尾灯内部的加速前进指示灯亮32，同时尾灯表面的小型LED35灯闪烁。
若非机动车同时处于转弯及刹车或加速前进状态，则指示灯亮控制器8仅会接收到中央控制元10传来的左转或右转信号，即左把手指示灯1、尾灯内部的左转指示灯29亮，或右把手指示灯2、尾灯内部的右转指示灯亮，同时尾灯表面的小型LED灯35亮。
步骤九：如图11所示，为本实施例尾灯内部指示灯组投射在地面指示形状距非机动车尾端距离变化示意图；
可旋转杆28受尾灯旋转控制器9控制，旋转相应的角度。另外，尾灯内部指示灯组固定在可旋转杆28上，随可旋转杆28一起旋转，尾灯内部不同的指示灯亮，会透过尾灯底部的可旋转凸透镜33投射到地面上，呈倒立、放大的虚像。且尾灯内部的旋转杆28旋转时，指示灯组离可旋转凸面镜33的距离不变，但指示灯组发出的光束不再与地面垂直，即投射在地面上 的像会随可旋转杆28旋转角度的变大而距非机动车尾段的距离变大。
具体为：
Figure PCTCN2021070689-appb-000004
s＝u tan θ    (2)
其中k为尾灯内部指示灯投射在地面时其放大倍数；s为投射在地面上的指示形状距非机动车尾端的距离；v为尾灯内部指示灯组距可旋转凸面镜的距离；u为尾灯底部距行驶地面的距离；θ为尾灯内部旋转杆转过的角度。
步骤十：GPS行为记录仪7会自动记录并储存非机动车在当前位置所执行的操作，在同一位置记录多次数据以后，处理分析该数据；在非机动车再次经过此位置时，根据当前行驶行为，进行判断，修订误差，较少误操作，提高提示系统准确性。
本实施例所述的系统利用在非机动车转弯时，会由于骑车人转动车把而带动前叉转动，进而导致前叉与下管存在相对转动角度的特点，而采用无极感应块智能感应此旋转角度w 实，固定在转弯角度感应装置外壳内部上端的无极感应块分为四个部分，两部分之间的夹角为10°，即当车把向左向右摆动不超过5°时，将非机动车视为直线行驶状态；当非机动车车把向左向右摆动幅度在5°～15°之间时，非机动车处于直线行驶或转弯状态；当非机动车车把向左向右摆动幅度大于15°时，将非机动车视为转弯状态，无极感应快智能感应到这一转弯角度w 实后，传给中央控制元，并与非机动车当前加速度a 实构建了关系，进一步通过中央控制元传给尾灯旋转控制模块，使得尾灯转过一定角度，更进一步尾灯投射在地面上的指示标志变大、距非机动车距离变远，从而对非机动车周围的行人或车辆起到智能提示作用，能有效减少交通事故的发生。
考虑到在道路较窄，无明显中央线的小路时，会存在两辆非机动车相向行驶的情况，一方骑行人会因不明白对面骑行人的操作意图，而出现双方车辆同时向左转，或同时向右转，进而发生摩擦、碰撞等交通事故。安装此装置后当一方中央控制元判断非机动车处于向左或向右转弯状态时，便会向指示灯控制模块发射信号，其相应的左把手指示灯(1)或右把手指示灯(2)闪亮，用于警示对面非机动车，避免发生两辆车辆同时想左转或同时向右转的情况。
实施例3：
本公开实施例3提供了一种非机动车，包括本公开实施例1所述的基于非机动车行驶行为 的智能提示系统。
以上所述仅为本公开的优选实施例而已，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (10)

  1. 一种基于非机动车行驶行为的智能提示系统，其特征在于，包括非机动车本体和设置在非机动车本体上的主控模块、指示灯控制模块、加速度感测模块、角度感测模块和位置感测模块；
    所述位置感测模块，用于感应非机动车当前位置，并判断非机动车是否处在交叉口位置，将判别信号传给角度感测模块；
    所述角度感测模块，用于感应非机动车转弯角度，结合转弯强制开关信号和非机动车位置判别信号判断非机动车是否处于转弯状态，当处于转弯状态时，将转弯角度传输给主控模块；
    所述加速度感测模块，用于感应非机动车的加速度信号，当非机动车的加速度绝对值大于预设值时，传输加速度值给主控模块；
    所述指示灯控制模块包括第一控制器和多个指示灯，主控模块根据接收到的转弯角度和加速度值判断非机动车的当前状态是否发生改变，当非机动车的状态发生改变时向第一控制器发送控制指令，控制相应指示灯的闪烁。
  2. 如权利要求1所述的基于非机动车行驶行为的智能提示系统，其特征在于，所述角度感测模块包括设置于非机动车下管上的转弯角度感应装置和第二控制器，所述转弯角度感应装置通过钢丝绳和卡扣与非机动车前叉的两立管固定连接；
    所述转弯角度感应装置至少包括外壳、可旋转的内筒、固定在内筒一端的以预设角度设置的带电突起和固定在外壳上与带电突起同端的无极感应块；
    非机动车转弯时前叉与下管由相互垂直至转过一定角度，通过钢丝绳带动内筒转过一定角度，内筒上带电突起与无极感应块接触，此时转弯角度感应装置感测到转弯方向和转弯角度并传输给第二控制器。
  3. 如权利要求1所述的基于非机动车行驶行为的智能提示系统，其特征在于，所述指示灯至少包括设置于非机动车后部的尾灯，所述尾灯内部包括指示灯组，所述指示灯组包括左转指示灯、右转指示灯、刹车指示灯和加速前进指示灯。
  4. 如权利要求3所述的基于非机动车行驶行为的智能提示系统，其特征在于，所述系统还包括尾灯旋转控制模块，所述尾灯旋转控制模块至少包括第三控制器以及设于尾灯内部的可旋转的连杆和凸面镜，所述指示灯组固定在连杆的杆体上，所述连杆与凸面镜垂直固定连接；
    当非机动车的状态发生改变时，第三控制器根据主控模块的指令控制连杆的转动，连杆由竖直方向偏移一定的角度，进而带动固定在连杆上的四个灯组偏移一定的角度，从而使得 尾灯形状透过凸面镜，在地面上投射出倒立和放大的虚像，且虚像的尺寸和虚像距离非机动车尾部的距离随着连杆转动角度的变化而变化。
  5. 如权利要求3所述的基于非机动车行驶行为的智能提示系统，其特征在于，还包括信息记录模块，用于实时接收并保存主控模块传来的非机动车行驶位置以及在某位置时所执行操作记录，用于判断当非机动车再次处于当前地理位置所要执行的操作以减少误提示。
  6. 如权利要求3所述的基于非机动车行驶行为的智能提示系统，其特征在于，所述指示灯还包括设置于非机动车左把手上的左把手指示灯和设置于非机动车右把手上的右把手指示灯，所述尾灯后表面设置有反光片，所述反光片周围设有多个LED灯，当任一尾灯接收到信号并亮起时，LED灯伴随尾灯闪烁。
  7. 一种基于非机动车行驶行为的智能提示系统的工作方法，其特征在于，利用权利要求4所述的基于非机动车行驶行为的智能提示系统，其特征在于：
    当满足以下条件之一时，主控模块判定非机动车处于转弯状态，具体为：
    当位置感测模块感测到非机动车处于交叉口，且角度感测模块感测到前叉较下管偏转角度大于或者等于第一预设角度；
    当位置感测模块感测到非机动车未在交叉口，但转弯强制开关已开启；
    当位置感测模块感测到非机动车未在交叉口，且未开启转弯强制开关，但角度感测模块感测到非机动车转过第二预设角度。
  8. 如权利要求7所述的基于非机动车行驶行为的智能提示系统的工作方法，其特征在于，主控模块根据接受到的转弯角度与加速度，计算连杆转过的角度，具体为：
    Figure PCTCN2021070689-appb-100001
    其中，θ为连杆转过的角度，w 实为非机动车前叉相较于下管转过的角度；w 0为非机动车可能处于转弯状态的临界角速度；a 实为非机动车的实际加速度；a 0为中央控制元接收到加速度传感器传来的最小加速度；α和β值为系数。
  9. 如权利要求8所述的基于非机动车行驶行为的智能提示系统的工作方法，其特征在于，连杆转动时，虚像的尺寸和虚像距离非机动车尾部的距离与连杆转动角度的关系，具体为：
    Figure PCTCN2021070689-appb-100002
    s＝u tanθ
    其中，k为尾灯内部指示灯投射在地面时其放大倍数；s为投射在地面上的指示形状距非机动车尾端的距离；v为尾灯内部指示灯组距可旋转凸面镜的距离；u为尾灯底部距行驶地面的距离；θ为尾灯内部旋转杆转过的角度。
  10. 一种非机动车，其特征在于，包括权利要求1-6任一项所述的基于非机动车行驶行为的智能提示系统。
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