CN107128302A - A kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five and method - Google Patents
A kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five and method Download PDFInfo
- Publication number
- CN107128302A CN107128302A CN201710229458.8A CN201710229458A CN107128302A CN 107128302 A CN107128302 A CN 107128302A CN 201710229458 A CN201710229458 A CN 201710229458A CN 107128302 A CN107128302 A CN 107128302A
- Authority
- CN
- China
- Prior art keywords
- car
- module
- collision
- vehicle speed
- herbaceous peony
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title abstract description 3
- 241000736199 Paeonia Species 0.000 claims abstract description 99
- 235000006484 Paeonia officinalis Nutrition 0.000 claims abstract description 99
- 238000005259 measurement Methods 0.000 claims abstract description 64
- 238000012545 processing Methods 0.000 claims abstract description 26
- 230000006378 damage Effects 0.000 claims abstract description 21
- 230000001133 acceleration Effects 0.000 claims description 33
- 206010057855 Hypotelorism of orbit Diseases 0.000 claims description 31
- 208000027418 Wounds and injury Diseases 0.000 claims description 16
- 208000014674 injury Diseases 0.000 claims description 16
- 239000004568 cement Substances 0.000 claims description 13
- 238000012937 correction Methods 0.000 claims description 9
- 230000005672 electromagnetic field Effects 0.000 claims description 9
- 230000010287 polarization Effects 0.000 claims description 8
- 238000003880 gradient-echo spectroscopy Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The present invention discloses a kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five and method, and device includes collision recognition system and five gauges after Chinese herbaceous peony collision recognition system, car and judges processing system；Chinese herbaceous peony collision recognition system includes Chinese herbaceous peony ultrasonic distance measuring module, this car vehicle speed measurement module and Chinese herbaceous peony collision recognition module；Collision recognition system includes collision recognition module after ultrasonic distance measuring module, this car vehicle speed measurement module and car after car after car；Five gauges judge that processing system includes control unit, voice alarm module, self-actuating brake module and electromagnetic anti-collision module；The present invention can provide good alarming anticollision measure using the division of the common gauge of automobile five of two gauges after the gauge of Chinese herbaceous peony three and car for driver；When there is collision possibility, collision possibility is preferably minimized；When colliding generation, collsion damage degree is preferably minimized.
Description
Technical field
The invention belongs to technical field of vehicle safety, and in particular to a kind of automobile active alarming anticollision device.
Background technology
With the continuous popularization of family car, people require automobile driving safe to improve constantly so that the safety of automobile
Technology is able to continue to develop and perfect, and constantly develops to intelligent and digitlization direction.Traditional automotive safety design is main
Consider passive security technology, safety belt, air bag, bumper are such as set.The more considerations of Automobile Design teacher is now
Active safety technologies, enable automobile actively to take measures, it is to avoid the harmfulness when generation of accident or reduction accident occur.
But existing automobile active safety technology can not avoid traffic accident completely, particularly in rainy day ground friction
When coefficient reduction, overspeed of vehicle, braking automobile failure.Therefore, how preferably, safer, more to improve ground real
Harmfulness when now actively avoiding the generation of motor traffic accidents from occurring with reduction traffic accident is into people's difficulty urgently to be resolved hurrily
Topic.
The content of the invention
It is an object of the invention to provide a kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five, to improve vehicle driving
Security, reduce traffic accident odds, and exist collision possibility when, pass through voice alarm module prompting department
Machine, and start self-actuating brake module reduction collision possibility；When collision can not be avoided, start electromagnetic anti-collision device, by accident
Damage ratio be preferably minimized.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five, including collision recognition system after Chinese herbaceous peony collision recognition system, car
Judge processing system with five gauges；
Chinese herbaceous peony collision recognition system includes Chinese herbaceous peony ultrasonic distance measuring module, this car vehicle speed measurement module and Chinese herbaceous peony collision recognition
Module；
Collision recognition system includes collision recognition after ultrasonic distance measuring module, this car vehicle speed measurement module and car after car after car
Module；
Five gauges judge that processing system includes control unit, voice alarm module, self-actuating brake module and electromagnetic anti-collision mould
Block；
The output end of Chinese herbaceous peony ultrasonic distance measuring module and Ben Che vehicle speed measurement modules is defeated with Chinese herbaceous peony collision recognition module
Enter end connection；After car the output end of ultrasonic distance measuring module and Ben Che vehicle speed measurement modules with after car collision recognition module it is defeated
Enter end connection；The input of control unit connects with the output end of collision recognition module after Chinese herbaceous peony collision recognition module and car respectively
Connect, the input of the output end of control unit respectively with voice alarm module, self-actuating brake module and electromagnetic anti-collision module is connected.
Further, Chinese herbaceous peony ultrasonic distance measuring module is used for the distance for detecting this car and front truck；Ultrasonic ranging mould after car
Block is used for the distance for detecting this car and rear car；This car vehicle speed measurement module is used to gather this vehicle speed information；Chinese herbaceous peony collision recognition
Module is used to be calculated between front truck and this car according to the output information of Chinese herbaceous peony ultrasonic distance measuring module and Ben Che vehicle speed measurement modules
Minimum safe distance Dr1；Collision recognition module is used for according to ultrasonic distance measuring module after car and Ben Che vehicle speed measurement modules after car
Output information calculate minimum safe distance D between rear car and this carr2；Control unit is used for according to Chinese herbaceous peony collision recognition module
In the corresponding voice alarm module of output information control, self-actuating brake module and the electromagnetic anti-collision module of collision recognition module after car
One or more work.
Further, minimum safe distance Dr1Calculated by following steps：
(1) Chinese herbaceous peony ultrasonic distance measuring module by constantly detect ultrasonic wave transmitting after run into the echo that front truck is reflected,
So as to measure transmitting ultrasonic wave and receive the time difference Δ T of echo；Chinese herbaceous peony ultrasonic wave module is surveyed currently according to temperature sensor
Air themperature calculates corresponding acoustic velocity value C, and according to formula S=C × Δ T/2, calculates this current car and front truck spacing S；
(2) this car vehicle speed measurement module directly gathers the vehicle speed value in automotive speedometer；
(3) Chinese herbaceous peony collision recognition module collects this car and the front truck spacing value that Chinese herbaceous peony ultrasonic sensor is inputted and changed
S, and collect this car vehicle speed value V of this car vehicle speed measurement module input1；According to formulaCalculate front truck
Vehicle speed value V2；According to formulaWithCalculate this car acceleration magnitude a1With front truck acceleration magnitude a2；Finally according to
Formula,Draw the minimum safe spacing D of Ben Che and front truckr1, wherein：
Tf1For reaction crash time of this car driver to front vehicles, Td1For this car brake coordination time, Tz1Increase for this car deceleration
For a long time, φ1For braking distance correction factor；For cement pavement, φ1=0.06；For bituminous paving, φ1=0.12.
Further, current vehicle and this car are apart from D1Span is 2Dr1＜ D1≤3Dr1When, the output end of control unit
Signal is sent to voice alarm module, voice alarm module reminds driver that " front truck and this car hypotelorism, please keep accident-free vehicle
Away from "；Current vehicle is with this car apart from D1Span is Dr1＜ D1≤2Dr1When, the output end of control unit is to voice alarm module
Signal is simultaneously emitted by with both self-actuating brake modules, voice alarm module reminds driver that " front truck and this car hypotelorism, start
Self-actuating brake ", self-actuating brake module is automatic to carry out braking processing to vehicle；Current vehicle is with this car apart from D1Span is 0 ＜ D1
≤Dr1When, the output end of control unit is simultaneously emitted by voice alarm module, self-actuating brake module and electromagnetic anti-collision module three
Signal, voice alarm module reminds driver's " front truck and this car hypotelorism, start electromagnetic anti-collision ", and self-actuating brake module is automatic
Braking processing is carried out to vehicle, while starting this car electromagnetic anti-collision module and notifying front truck to start electromagnetic anti-collision module, this car electricity
Magnetic anticollision module and front truck electromagnetic anti-collision module polarization identical electromagnetic field, make to produce electrodynamic repulsion between Ben Che and front truck
Power, it is to avoid the degree of injury of collision occurs or reduced for collision.
Further, minimum safe distance Dr2Calculated by following steps：
(1) after car ultrasonic distance measuring module by constantly detect ultrasonic wave transmitting after run into the echo that rear car is reflected,
So as to measure transmitting ultrasonic wave and receive the time difference Δ T of echo；Ultrasonic wave module surveys present air according to temperature sensor
Temperature calculates corresponding acoustic velocity value C, and according to formula S=C × Δ T/2, calculates this current car and rear car spacing S；
(2) this car vehicle speed measurement module directly gathers the vehicle speed value in automotive speedometer；
(3) collision recognition module collects this car and the rear car spacing value that ultrasonic sensor after car is inputted and changed after car
S, and collect this car vehicle speed value V of this car vehicle speed measurement module input1；According to formulaCalculate rear car car
Fast value V3；According to formulaWithCalculate this car acceleration magnitude a1With rear car acceleration magnitude a3；Finally according to public affairs
Formula,Draw Ben Che and the minimum safe spacing D of rear carr2, wherein：Tf3
For reaction crash time of the rear car driver to our vehicle, Td3For rear car brake coordination time, Tz3Increase for rear car deceleration
Time, φ1For braking distance correction factor；For cement pavement, φ1=0.06；For bituminous paving, φ1=0.12.
Further, when rear car and this car are apart from D2Span is Dr2＜ D2≤3Dr2When, the output end of control unit to
Voice alarm module sends signal, and voice alarm module reminds driver that " rear car and this car hypotelorism, please keep accident-free vehicle
Away from "；When rear car and this car are apart from D2Span is 0 ＜ D2≤Dr2When, the output end of control unit to voice alarm module and
Both electromagnetic anti-collision modules are simultaneously emitted by signal, and voice alarm module reminds driver that " rear car and this car hypotelorism, start electricity
Magnetic anticollision ", at the same start this car electromagnetic anti-collision module and notify rear car start electromagnetic anti-collision module, this car electromagnetic anti-collision module and
Rear car electromagnetic anti-collision module polarization identical electromagnetic field, makes to produce electromagnetic repulsive force between Ben Che and rear car, it is to avoid collision
Occurs or reduces the degree of injury of collision.
Further, electromagnetic anti-collision module includes automobile storage battery, inverter, booster, the high current hair being sequentially connected
Raw device, rectifier and superconducting device；Direct current is produced in automobile storage battery, by inverter, booster, strong current generator and
Rectifier, produces in the DC current feeding superconducting device more than 1 kiloampere, produces high-intensity magnetic field.
Further, collision recognition system shares this car vehicle speed measurement module after Chinese herbaceous peony collision recognition system and car.
A kind of gauge initiative alarming avoiding collision of automobile five, based on a kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five, institute
State a kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five, including collision recognition system and five limits after Chinese herbaceous peony collision recognition system, car
Boundary judges processing system；
Chinese herbaceous peony collision recognition system includes Chinese herbaceous peony ultrasonic distance measuring module, this car vehicle speed measurement module and Chinese herbaceous peony collision recognition
Module；
Collision recognition system includes collision recognition after ultrasonic distance measuring module, this car vehicle speed measurement module and car after car after car
Module；
Five gauges judge that processing system includes control unit, voice alarm module, self-actuating brake module and electromagnetic anti-collision mould
Block；
The output end of Chinese herbaceous peony ultrasonic distance measuring module and Ben Che vehicle speed measurement modules is defeated with Chinese herbaceous peony collision recognition module
Enter end connection；After car the output end of ultrasonic distance measuring module and Ben Che vehicle speed measurement modules with after car collision recognition module it is defeated
Enter end connection；The input of control unit connects with the output end of collision recognition module after Chinese herbaceous peony collision recognition module and car respectively
Connect, the input of the output end of control unit respectively with voice alarm module, self-actuating brake module and electromagnetic anti-collision module is connected；
Chinese herbaceous peony ultrasonic distance measuring module is used for the distance for detecting this car and front truck；Ultrasonic distance measuring module is used to detect after car
The distance of this car and rear car；This car vehicle speed measurement module is used to gather this vehicle speed information；Chinese herbaceous peony collision recognition module is used for root
The minimum safe between front truck and this car is calculated according to the output information of Chinese herbaceous peony ultrasonic distance measuring module and Ben Che vehicle speed measurement modules
Apart from Dr1；Collision recognition module is used for the output information according to ultrasonic distance measuring module after car and Ben Che vehicle speed measurement modules after car
Calculate the minimum safe distance D between rear car and this carr2；Control unit is used to collide according to after Chinese herbaceous peony collision recognition module and car
It is one or more in output information control correspondence voice alarm module, self-actuating brake module and the electromagnetic anti-collision module of identification module
Work；
The gauge initiative alarming avoiding collision of a kind of automobile five, comprises the following steps：
1) collision recognition system monitors this car and front truck and the distance of rear car in real time after Chinese herbaceous peony collision recognition system and car, and
Calculate the minimum safe distance D of this car and front truckr1With Ben Che and the minimum safe distance D of rear carr2；
2) control unit is according to step 1) data that monitor in real time, carry out this car and front truck anticollision judge and Ben Che and
The anticollision judgement of rear car, wherein：
The anticollision of this car and front truck judges to include：Current vehicle is with this car apart from D1Span is 2Dr1＜ D1≤3Dr1
When, the output end of control unit sends signal to voice alarm module, and voice alarm module reminds driver " front truck and this spacing
From excessively near, safe distance between vehicles please be keep "；Current vehicle is with this car apart from D1Span is Dr1＜ D1≤2Dr1When, control unit it is defeated
Go out end and be simultaneously emitted by signal to both voice alarm module and self-actuating brake module, voice alarm module reminds driver's " front truck
With this car hypotelorism, start self-actuating brake ", self-actuating brake module is automatic to carry out braking processing to vehicle；Current vehicle and this car
It is 0 ＜ D apart from D1 spans1≤Dr1When, the output end of control unit is to voice alarm module, self-actuating brake module and electromagnetism
Anticollision module three is simultaneously emitted by signal, and voice alarm module reminds driver that " front truck and this car hypotelorism start electromagnetism and prevented
Hit ", self-actuating brake module is automatic to carry out braking processing to vehicle, while starting this car electromagnetic anti-collision module and notifying front truck to start
Electromagnetic anti-collision module, this car electromagnetic anti-collision module and front truck electromagnetic anti-collision module polarization identical electromagnetic field, make Ben Che and
Electromagnetic repulsive force is produced between front truck, it is to avoid the degree of injury of collision occurs or reduced for collision；
This car and the anticollision of rear car judge to include：When rear car and this car are apart from D2Span is Dr2＜ D2≤3Dr2When,
The output end of control unit sends signal to voice alarm module, and voice alarm module reminds driver " rear car and this car distance
Cross near, safe distance between vehicles please be keep "；When rear car and this car are apart from D2Span is 0 ＜ D2≤Dr2When, the output end of control unit
Signal is simultaneously emitted by both voice alarm module and electromagnetic anti-collision module, voice alarm module reminds driver " rear car and sheet
Car hypotelorism, starts electromagnetic anti-collision ", while start this car electromagnetic anti-collision module and notify rear car to start electromagnetic anti-collision module,
This car electromagnetic anti-collision module and rear car electromagnetic anti-collision module polarization identical electromagnetic field, make to produce electricity between Ben Che and rear car
Magnetic repulsion, it is to avoid the degree of injury of collision occurs or reduced for collision.
Further, minimum safe distance Dr1Calculated by following steps：
(1.1) Chinese herbaceous peony ultrasonic distance measuring module runs into time that front truck is reflected by constantly detecting after ultrasonic wave transmitting
Ripple, so as to measure transmitting ultrasonic wave and receive the time difference Δ T of echo；Chinese herbaceous peony ultrasonic wave module is surveyed according to temperature sensor to be worked as
Preceding air themperature calculates corresponding acoustic velocity value C, and according to formula S=C × Δ T/2, calculates this current car and front truck spacing
S；
(1.2) this car vehicle speed measurement module directly gathers the vehicle speed value in automotive speedometer；
(1.3) Chinese herbaceous peony collision recognition module collects this car and front truck spacing that Chinese herbaceous peony ultrasonic sensor is inputted and changed
Value S, and collect this car vehicle speed value V of this car vehicle speed measurement module input1；According to formulaCalculate front truck
Vehicle speed value V2；According to formulaWithCalculate this car acceleration magnitude a1With front truck acceleration magnitude a2；Finally according to
Formula,Draw the minimum safe spacing D of Ben Che and front truckr1, wherein：
Tf1For reaction crash time of this car driver to front vehicles, Td1For this car brake coordination time, Tz1Increase for this car deceleration
For a long time, φ1For braking distance correction factor；For cement pavement, φ1=0.06；For bituminous paving, φ1=0.12.
Minimum safe distance Dr2Calculated by following steps：
(2.1) ultrasonic distance measuring module runs into time that rear car is reflected by constantly detecting after car after ultrasonic wave transmitting
Ripple, so as to measure transmitting ultrasonic wave and receive the time difference Δ T of echo；Ultrasonic wave module surveys current sky according to temperature sensor
Temperature degree calculates corresponding acoustic velocity value C, and according to formula S=C × Δ T/2, calculates this current car and rear car spacing S；
(2.2) this car vehicle speed measurement module directly gathers the vehicle speed value in automotive speedometer；
(2.3) collision recognition module collects this car and rear car spacing that ultrasonic sensor after car is inputted and changed after car
Value S, and collect this car vehicle speed value V of this car vehicle speed measurement module input1；According to formulaCalculate rear car
Vehicle speed value V3；According to formulaWithCalculate this car acceleration magnitude a1With rear car acceleration magnitude a3；Finally according to
Formula,Draw Ben Che and the minimum safe spacing D of rear carr2, wherein：
Tf3For reaction crash time of the rear car driver to our vehicle, Td3For rear car brake coordination time, Tz3Increase for rear car deceleration
For a long time, φ1For braking distance correction factor；For cement pavement, φ1=0.06；For bituminous paving, φ1=0.12.
Beneficial effects of the present invention are as follows：
1st, it is prevented effectively from the degree of injury for colliding or reducing collision with front truck.It is continuous using single-chip computer control system
Detection related data and the safe distance D for calculating this car and front truckr1.Current vehicle is with this car apart from D1Span is 2Dr1＜ D1
≤3Dr1When, the output end of control unit sends signal to voice alarm module, voice alarm module remind driver " front truck with
This car hypotelorism, please keep safe distance between vehicles "；Current vehicle is with this car apart from D1Span is Dr1＜ D1≤2Dr1When, control is single
The output end of member is simultaneously emitted by signal to both voice alarm module and self-actuating brake module, and voice alarm module reminds driver
" front truck and this car hypotelorism, start self-actuating brake ", self-actuating brake module is automatic to carry out braking processing to vehicle, it is to avoid front truck
Further reduce with this car spacing；Current vehicle is with this car apart from D1Span is 0 ＜ D1≤Dr1When, the output end of control unit
Signal is simultaneously emitted by voice alarm module, self-actuating brake module and electromagnetic anti-collision module three, voice alarm module is reminded and driven
Person's of sailing " front truck and this car hypotelorism, start electromagnetic anti-collision ", self-actuating brake module is automatic to carry out braking processing to vehicle, it is to avoid
Front truck further reduces with this car spacing, while starting electromagnetic anti-collision module, it is to avoid the damage of collision occurs or reduced for collision
Degree.
2nd, it is prevented effectively from the degree of injury for colliding or reducing collision with rear car.It is continuous using single-chip computer control system
Detection related data simultaneously calculates this car and the safe distance D of rear carr2.When rear car and this car are apart from D2Span is Dr2＜ D2≤
3Dr2When, the output end of control unit sends signal to voice alarm module, and voice alarm module reminds driver " rear car and sheet
Car hypotelorism, please keep safe distance between vehicles "；When rear car and this car are apart from D2Span is 0 ＜ D2≤Dr2When, control unit
Output end is simultaneously emitted by signal to both voice alarm module and electromagnetic anti-collision module, voice alarm module remind driver " after
Car and this car hypotelorism, start electromagnetic anti-collision ", while starting electromagnetic anti-collision module, it is to avoid collision occurs or reduced for collision
Degree of injury.
3rd, using the division of the common gauge of automobile five of two gauges after the gauge of Chinese herbaceous peony three and car, it can be provided for driver well
Alarming anticollision measure.When there is collision possibility, collision possibility is preferably minimized；When colliding generation, by collsion damage
Degree is preferably minimized.
Brief description of the drawings
Fig. 1 is auto alarm anticollision device, collision-prevention device structural representation；
Fig. 2 is the gauge schematic diagram of auto alarm anticollision five；
Fig. 3 is the gauge alarming anticollision system operation flow chart of Chinese herbaceous peony three；
Fig. 4 is two gauge alarming anticollision system operation flow charts after car.
Embodiment
The present apparatus is described in further detail below in conjunction with the drawings and specific embodiments：
Refer to shown in Fig. 1 to Fig. 4, a kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five of the invention, collided and known by Chinese herbaceous peony
Collision recognition system II, five gauges judge that processing system III is constituted after other system I, car.Wherein Chinese herbaceous peony collision recognition system I is by car
Preceding ultrasonic distance measuring module, this car vehicle speed measurement module and Chinese herbaceous peony collision recognition module composition；After car collision recognition system II by
Collision recognition module is constituted after ultrasonic distance measuring module, this car vehicle speed measurement module and car after car；Five gauges judge processing system
III is made up of control unit, voice alarm module, self-actuating brake module and electromagnetic anti-collision module.Can be with a car in the present invention
A set of electromagnetic anti-collision module is respectively set in the headstock tailstock, the polarity of the magnetic field produced by electromagnetic anti-collision module is fixed.
Know as shown in figure 1, the output end of Chinese herbaceous peony ultrasonic distance measuring module and Ben Che vehicle speed measurement modules is collided with Chinese herbaceous peony
The input connection of other module；The output end of ultrasonic distance measuring module and Ben Che vehicle speed measurement modules is known with being collided after car after car
The input connection of other module；The input of control unit respectively with collision recognition module after Chinese herbaceous peony collision recognition module and car
Output end is connected, and the output end of control unit is defeated with voice alarm module, self-actuating brake module and electromagnetic anti-collision module respectively
Enter end connection.
Self-actuating brake module is that driver does not still take effective brake measure to avoid after voice alarm module prompting
In the case that this car reduces with leading vehicle distance, intervene automatically.Self-actuating brake module sends brake signal and gives brake boost pump, helps
The vacuum produced when power pump is worked using engine suction in boost pump side so that power-assisted pumping diaphragm valve both sides produce immense pressure
Difference, so that the brake fluid into master cylinder applies pressure, pressure is delivered to each wheel brake clamp by liquid by pipeline
Piston on, piston driving brake clamp clamp brake disc and make vehicle deceleration so as to producing huge frictional force.
The operation principle of electromagnetic anti-collision module is, when collision recognition module detect Ben Che it is excessively near with leading vehicle distance when, just
The electromagnetic anti-collision module of this car can be started, notify front truck to start electromagnetic anti-collision module while sending signal.Two cars are all from respective
Direct current is produced in automobile storage battery, by inverter, booster, strong current generator and rectifier, kiloampere in generation
DC current.The high current of upper kiloampere is by cable feeding superconducting device, producing high-intensity magnetic field.The electromagnetic field of front and rear two car
Polarity is identical, and huge repulsive force is produced in short distance, so as to reach collision free or reduce the purpose of collsion damage.
A kind of gauge initiative alarming avoiding collision of automobile five of the present invention, including：
First, the course of work of the gauge of Chinese herbaceous peony three：
According to Fig. 1, Fig. 2 and Fig. 3, this car measured by Chinese herbaceous peony ultrasonic distance measuring module and Ben Che vehicle speed measurement modules is with before
Car relative distance and Ben Che GESs, pass through Chinese herbaceous peony ultrasonic distance measuring module and the output end of Ben Che vehicle speed measurement modules respectively
Transmitted to the input of Chinese herbaceous peony collision recognition module.
Chinese herbaceous peony collision recognition module is according to Ben Che and two input quantities of front truck relative distance and Ben Che speeds, and according to relative
Distance changes with time to change with time with speed, show that front truck speed, front truck and the car of this car two add by differential calculation
Speed, finally calculates the minimum safe distance D between front truck and this carr1.It is specific as follows：
(1) Chinese herbaceous peony ultrasonic distance measuring module by constantly detect ultrasonic wave transmitting after run into the echo that front truck is reflected,
So as to measure transmitting ultrasonic wave and receive the time difference Δ T of echo.Ultrasonic wave module surveys present air according to temperature sensor
Temperature calculates corresponding acoustic velocity value C, and inside modules processor is according to formula S=C × Δ T/2, you can calculate this current car
With front truck spacing S.
(2) to save cost, this car GES directly gathers the vehicle speed value in automotive speedometer.
(3) Chinese herbaceous peony collision recognition module collects this car and the front truck spacing value that Chinese herbaceous peony ultrasonic sensor is inputted and changed
S, and collect this car vehicle speed value V of this car vehicle speed measurement module input1；According to formulaCalculate front truck car
Fast value V2；According to formulaWithCalculate this car acceleration magnitude a1With front truck acceleration magnitude a2；Finally according to public affairs
Formula,Draw the minimum safe spacing D of Ben Che and front truckr1, wherein：Dr1
For Ben Che and front truck minimum safe distance, V1For this vehicle speed, V2For preceding vehicle speed, Tf1It is this car driver to front vehicles
The reaction crash time, Td1For this car brake coordination time, Tz1For this car deceleration rise time, φ1For braking distance amendment
Coefficient；a1For this car acceleration, a2For front truck acceleration；For cement pavement, φ1=0.06；For bituminous paving, φ1=
0.12。
As shown in Fig. 2 the gauge of auto alarm anticollision five is divided into two gauges after the gauge of Chinese herbaceous peony three and car.The gauge of Chinese herbaceous peony three is distinguished
For Front1, Front2, Front3.Front1 represents front truck and this car spacing D1Span is 2Dr1＜ D1≤3Dr1；
Front2 represents front truck and this car spacing D1Span is Dr1＜ D1≤2Dr1；Front3 represents front truck and this car spacing D1Take
Value scope is 0 ＜ D1≤Dr1.Two gauges are respectively Back1, Back2 after car.Back1 represents rear car and this car spacing D2Value model
Enclose for Dr2＜ D2≤3Dr2；Back2 represents rear car and this car spacing D2Span is 0 ＜ D2≤Dr2。Dr1For Ben Che and front truck
Minimum safe distance, Dr2For Ben Che and the minimum safe distance of rear car.
Current vehicle is with this car apart from D1Span is 2Dr1＜ D1≤3Dr1When, the output end of control unit is to audio alert
Module sends signal, and voice alarm module reminds driver's " front truck and this car hypotelorism, please keep safe distance between vehicles "；Current vehicle
With this car apart from D1Span is Dr1＜ D1≤2Dr1When, the output end of control unit is to voice alarm module and self-actuating brake
Both modules are simultaneously emitted by signal, and voice alarm module reminds driver's " front truck and this car hypotelorism, start self-actuating brake ",
Self-actuating brake module is automatic to carry out braking processing to vehicle, it is to avoid front truck further reduces with this car spacing；Current vehicle and this car
Apart from D1Span is 0 ＜ D1≤Dr1When, the output end of control unit is to voice alarm module, self-actuating brake module and electromagnetism
Anticollision module three is simultaneously emitted by signal, and voice alarm module reminds driver that " front truck and this car hypotelorism start electromagnetism and prevented
Hit ", self-actuating brake module is automatic to carry out braking processing to vehicle, it is to avoid front truck further reduces with this car spacing, starts simultaneously
Electromagnetic anti-collision module, it is to avoid the degree of injury of collision occurs or reduced for collision.
2nd, after car two gauges the course of work：
According to Fig. 1, Fig. 2 and Fig. 4, ultrasonic distance measuring module and this car measured by Ben Che vehicle speed measurement modules are with after after car
Car relative distance and Ben Che GESs, pass through ultrasonic distance measuring module after car and the output end of Ben Che vehicle speed measurement modules respectively
The input transmission of collision recognition module after to car.
Collision recognition module is according to Ben Che and two input quantities of rear car relative distance and Ben Che speeds after car, and according to relative
Distance changes with time to change with time with speed, show that rear car speed and Ben Che add with the car of rear car two by differential calculation
Speed, finally calculates the minimum safe distance D between rear car and this carr2.It is specific as follows：
(1) after car ultrasonic distance measuring module by constantly detect ultrasonic wave transmitting after run into the echo that rear car is reflected,
So as to measure transmitting ultrasonic wave and receive the time difference Δ T of echo.Ultrasonic wave module surveys present air according to temperature sensor
Temperature calculates corresponding acoustic velocity value C, and inside modules processor is according to formula S=C × Δ T/2, you can calculate this current car
With rear car spacing S.
(2) to save cost, this car GES directly gathers the vehicle speed value in automotive speedometer.
(3) collision recognition module collects this car and the rear car spacing value that ultrasonic sensor after car is inputted and changed after car
S, and collect this car vehicle speed value V of this car vehicle speed measurement module input1；According to formulaCalculate rear car car
Fast value V3；According to formulaWithCalculate this car acceleration magnitude a1With rear car acceleration magnitude a3；Finally according to public affairs
Formula,Draw Ben Che and the minimum safe spacing D of rear carr2, wherein：Dr2
For minimum safe distance of this car to rear car, V1For this vehicle speed, V3For rear vehicle speed, Tf3It is rear car driver to our vehicle
The reaction crash time, Td3For rear car brake coordination time, Tz3For rear car deceleration rise time, φ1For braking distance amendment
Coefficient；a1For this car acceleration, a3For rear car acceleration；For cement pavement, φ1=0.06；For bituminous paving, φ1=
0.12。
As shown in Fig. 2 the gauge of auto alarm anticollision five is divided into two gauges after the gauge of Chinese herbaceous peony three and car.The gauge of Chinese herbaceous peony three is distinguished
For Front1, Front2, Front3.Front1 represents front truck and this car spacing D1Span is 2Dr1＜ D1≤3Dr1；
Front2 represents front truck and this car spacing D1Span is Dr1＜ D1≤2Dr1；Front3 represents front truck and this car spacing D1Take
Value scope is 0 ＜ D1≤Dr1.Two gauges are respectively Back1, Back2 after car.Back1 represents rear car and this car spacing D2Value model
Enclose for Dr2＜ D2≤3Dr2；Back2 represents rear car and this car spacing D2Span is 0 ＜ D2≤Dr2。Dr1For Ben Che and front truck
Minimum safe distance, Dr2For Ben Che and the minimum safe distance of rear car.
When rear car and this car are apart from D2Span is Dr2＜ D2≤3Dr2When, the output end of control unit is to audio alert
Module sends signal, and voice alarm module reminds driver's " rear car and this car hypotelorism, please keep safe distance between vehicles "；Work as rear car
With this car apart from D2Span is 0 ＜ D2≤Dr2When, the output end of control unit is to voice alarm module and electromagnetic anti-collision mould
Both blocks are simultaneously emitted by signal, and voice alarm module reminds driver's " rear car and this car hypotelorism, start electromagnetic anti-collision ", together
Shi Qidong electromagnetic anti-collision modules, it is to avoid the degree of injury of collision occurs or reduced for collision.
Automobile is installed after this gauge initiative alarming anticollision device, collision-prevention device of set automobile five, can be reminded before collision occurs and assistance is driven
The possibility that the person's of sailing reduction collision occurs；And self-actuating brake module and the hair of superconducting magnetic anticollision module collision free can be passed through
Raw or reduction by two cars collision degree of injury.
Illustrate the gauge initiative alarming avoiding collision of a kind of automobile five of the invention with reference to specific example：
First, the course of work of the gauge of Chinese herbaceous peony three：
According to Fig. 1, Fig. 2 and Fig. 3, this car measured by Chinese herbaceous peony ultrasonic distance measuring module and Ben Che vehicle speed measurement modules is with before
Car relative distance and Ben Che GESs, pass through Chinese herbaceous peony ultrasonic distance measuring module and the output end of Ben Che vehicle speed measurement modules respectively
Transmitted to the input of Chinese herbaceous peony collision recognition module.
Chinese herbaceous peony collision recognition module is according to Ben Che and two input quantities of front truck relative distance and Ben Che speeds, and according to relative
Distance changes with time to change with time with speed, show that front truck speed and front truck add with the car of this car two by differential calculation
Speed, finally calculates the minimum safe distance D between front truck and this carr1.It is specific as follows：
(1) Chinese herbaceous peony ultrasonic distance measuring module by constantly detect ultrasonic wave transmitting after run into the echo that front truck is reflected,
It it is 0.2 second so as to measure transmitting ultrasonic wave and receive the time difference Δ T of echo.Ultrasonic wave module is surveyed according to temperature sensor to be worked as
Preceding 20 DEG C of air themperature calculates corresponding acoustic velocity value for 344 meter per seconds, inside modules processor according to formula S=C × Δ T/2,
It is 34.4 meters that this current car, which can be calculated, with front truck spacing.
(2) to save cost, this car GES directly gathers the vehicle speed value in automotive speedometer, specially 30 meter per seconds,
I.e. 108 kilometers/hour.
(3) Chinese herbaceous peony collision recognition module collects this car and the front truck spacing value that Chinese herbaceous peony ultrasonic sensor is inputted and changed
S, and collect this car vehicle speed value V of this car vehicle speed measurement module input1.Control system calculate spacing S rate of change for-
5 meter per seconds, according to formulaFront truck vehicle speed value V can be calculated2For 25 meter per seconds.According to formulaWithControl system can calculate this car acceleration magnitude a1For 6 meter per seconds2And front truck acceleration magnitude a2For 5 meter per seconds2.Most
Afterwards according to formulaMake Tf1=0.05 second, Td1=0.05 second, Tz1=0.1
Second, φ1=0.12, (φ1=0.12, be bituminous paving) the minimum safe spacing D of Ben Che and front truck can be drawnr1For 6 meters, its
In：Dr1For minimum safe distance of this car to front truck, V1For this vehicle speed, V2For preceding vehicle speed, Tf1It is this car driver to preceding
The reaction crash time of square vehicle, Td1For this car brake coordination time, Tz1For this car deceleration rise time, φ1For brake away from
From correction factor；a1For this car acceleration, a2For front truck acceleration；For cement pavement, φ1=0.06；For bituminous paving,
φ1=0.12.
As shown in Fig. 2 the gauge of auto alarm anticollision five is divided into two gauges after the gauge of Chinese herbaceous peony three and car.The gauge of Chinese herbaceous peony three is distinguished
For Front1, Front2, Front3.Front1 represents front truck and this car spacing D1Span is 2Dr1＜ D1≤3Dr1, now
Front1 is 12 meters~18 meters；Front2 represents front truck and this car spacing D1Span is Dr1＜ D1≤2Dr1；Now Front2
For 6 meters~12 meters；Front3 represents front truck and this car spacing D1Span is 0 ＜ D1≤Dr1, now Front3 is 0 meter~6
Rice.
Current vehicle is with this car apart from D1When span is 12 meters~18 meters, the output end of control unit is to audio alert mould
Block sends signal, and voice alarm module reminds driver's " front truck and this car hypotelorism, please keep safe distance between vehicles "；Current vehicle with
This car is apart from D1When span is 6 meters~12 meters, the output end of control unit is to voice alarm module and self-actuating brake module
The two is simultaneously emitted by signal, and voice alarm module reminds driver's " front truck and this car hypotelorism, start self-actuating brake ", automatically
Brake module is automatic to carry out braking processing to vehicle, it is to avoid front truck further reduces with this car spacing；Current vehicle and this car distance
D1When span is 0 meter~6 meters, the output end of control unit is to voice alarm module, self-actuating brake module and electromagnetic anti-collision
Module three is simultaneously emitted by signal, and voice alarm module reminds driver's " front truck and this car hypotelorism, start electromagnetic anti-collision ",
Self-actuating brake module is automatic to carry out braking processing to vehicle, it is to avoid front truck further reduces with this car spacing, while starting electromagnetism
Anticollision module, it is to avoid the degree of injury of collision occurs or reduced for collision.
2nd, after car two gauges the course of work：
According to Fig. 1, Fig. 2 and Fig. 4, ultrasonic distance measuring module and this car measured by Ben Che vehicle speed measurement modules are with after after car
Car relative distance and Ben Che GESs, pass through ultrasonic distance measuring module after car and the output end of Ben Che vehicle speed measurement modules respectively
The input transmission of collision recognition module after to car.Collision recognition module is according to Ben Che and rear car relative distance and Ben Cheche after car
Fast two input quantities, and changed with time and changed with time with speed according to relative distance, after being drawn by differential calculation
Car speed and Ben Che and the car acceleration of rear car two, finally calculate the minimum safe distance D between rear car and this carr2.Specifically
It is as follows：
(1) after car ultrasonic distance measuring module by constantly detect ultrasonic wave transmitting after run into the echo that rear car is reflected,
It it is 0.2 second so as to measure transmitting ultrasonic wave and receive the time difference Δ T of echo.Ultrasonic wave module is surveyed according to temperature sensor to be worked as
Preceding 20 DEG C of air themperature calculates corresponding acoustic velocity value for 344 meter per seconds, inside modules processor according to formula S=C × Δ T/2,
It is 34.4 meters that this current car, which can be calculated, with rear car spacing.
(2) to save cost, this car GES directly gathers the vehicle speed value in automotive speedometer, specially 30 meter per seconds,
I.e. 108 kilometers/hour.
(3) collision recognition module collects this car and the rear car spacing value that ultrasonic sensor after car is inputted and changed after car
S, and collect this car vehicle speed value V of this car vehicle speed measurement module input1.It is -5 that control system, which calculates spacing S rates of change,
Meter per second, according to formulaRear car vehicle speed value V can be calculated3For 35 meter per seconds.According to formulaWithThis car acceleration magnitude a can be calculated1For 6 meter per seconds2With rear car acceleration magnitude a3For 7 meter per seconds2.Finally according to formulaMake Tf3=0.05 second, Td3=0.05 second, Tz3=0.1 second, φ1=
0.06, (φ1=0.06, be cement pavement) Ben Che and the minimum safe spacing D of rear car can be drawnr2For 6 meters, wherein：Dr2For
This car is to the minimum safe distance of rear car, V1For this vehicle speed, V3For rear vehicle speed, Tf3It is rear car driver to our vehicle
React crash time, Td3For rear car brake coordination time, Tz3For rear car deceleration rise time, φ1For braking distance amendment system
Number；a1For this car acceleration, a3For rear car acceleration；For cement pavement, φ1=0.06；For bituminous paving, φ1=
0.12。
As shown in Fig. 2 the gauge of auto alarm anticollision five is divided into two gauges after the gauge of Chinese herbaceous peony three and car.Two gauges are distinguished after car
For Back1 and Back2.Back1 represents rear car and this car spacing D2Span is Dr2＜ D2≤3Dr2, now Back1 is 6 meters
~18 meters；Back2 represents rear car and this car spacing D2Span is 0 ＜ D2≤Dr2, now Back2 is 0 meter~6 meters.
When rear car and this car are apart from D2When span is 6 meters~18 meters, the output end of control unit is to audio alert mould
Block sends signal, and voice alarm module reminds driver's " rear car and this car hypotelorism, please keep safe distance between vehicles "；When rear car with
This car is apart from D2When span is 0 meter~6 meters, the output end of control unit is to voice alarm module and electromagnetic anti-collision module two
Person is simultaneously emitted by signal, and voice alarm module is reminded driver's " rear car and this car hypotelorism, start electromagnetic anti-collision ", opened simultaneously
Dynamic electromagnetic anti-collision module, it is to avoid the degree of injury of collision occurs or reduced for collision.
Claims (10)
1. a kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five, it is characterised in that including being collided after Chinese herbaceous peony collision recognition system, car
Identifying system and five gauges judge processing system；
Chinese herbaceous peony collision recognition system includes Chinese herbaceous peony ultrasonic distance measuring module, this car vehicle speed measurement module and Chinese herbaceous peony collision recognition mould
Block；
Collision recognition system includes collision recognition mould after ultrasonic distance measuring module, this car vehicle speed measurement module and car after car after car
Block；
Five gauges judge that processing system includes control unit, voice alarm module, self-actuating brake module and electromagnetic anti-collision module；
Input of the output end of Chinese herbaceous peony ultrasonic distance measuring module and Ben Che vehicle speed measurement modules with Chinese herbaceous peony collision recognition module
Connection；Input of the output end of ultrasonic distance measuring module and Ben Che vehicle speed measurement modules with collision recognition module after car after car
Connection；Output end of the input of control unit respectively with collision recognition module after Chinese herbaceous peony collision recognition module and car is connected, control
Input of the output end of unit processed respectively with voice alarm module, self-actuating brake module and electromagnetic anti-collision module is connected.
2. a kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five according to claim 1, it is characterised in that Chinese herbaceous peony ultrasonic wave
Range finder module is used for the distance for detecting this car and front truck；Ultrasonic distance measuring module is used for the distance for detecting this car and rear car after car；
This car vehicle speed measurement module is used to gather this vehicle speed information；Chinese herbaceous peony collision recognition module is used for according to Chinese herbaceous peony ultrasonic ranging mould
The output information of block and this car vehicle speed measurement module calculates the minimum safe distance D between front truck and this carr1；Collision recognition after car
Module is used to be calculated between rear car and this car according to the output information of ultrasonic distance measuring module after car and Ben Che vehicle speed measurement modules
Minimum safe distance Dr2；Control unit is used for the output information according to collision recognition module after Chinese herbaceous peony collision recognition module and car
One or more work in control correspondence voice alarm module, self-actuating brake module and electromagnetic anti-collision module.
3. a kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five according to claim 2, it is characterised in that minimum safe distance
From Dr1Calculated by following steps：
(1) Chinese herbaceous peony ultrasonic distance measuring module by constantly detect ultrasonic wave transmitting after run into the echo that front truck is reflected so that
Measure transmitting ultrasonic wave and receive the time difference Δ T of echo；Chinese herbaceous peony ultrasonic wave module surveys present air according to temperature sensor
Temperature calculates corresponding acoustic velocity value C, and according to formula S=C × Δ T/2, calculates this current car and front truck spacing S；
(2) this car vehicle speed measurement module directly gathers the vehicle speed value in automotive speedometer；
(3) Chinese herbaceous peony collision recognition module collects this car and front truck spacing value S that Chinese herbaceous peony ultrasonic sensor is inputted and changed, with
And collect this car vehicle speed value V of this car vehicle speed measurement module input1；According to formulaCalculate front truck vehicle speed value
V2；According to formulaWithCalculate this car acceleration magnitude a1With front truck acceleration magnitude a2；Finally according to formula,Draw the minimum safe spacing D of Ben Che and front truckr1, wherein：Tf1For this
Car driver is to the reaction crash time of front vehicles, Td1For this car brake coordination time, Tz1When increasing for this car deceleration
Between, φ1For braking distance correction factor；For cement pavement, φ1=0.06；For bituminous paving, φ1=0.12.
4. the gauge initiative alarming anticollision device, collision-prevention device of a kind of automobile five according to claim 2, it is characterised in that current vehicle and sheet
Car is apart from D1Span is 2Dr1＜ D1≤3Dr1When, the output end of control unit sends signal, voice to voice alarm module
Alarm module reminds driver's " front truck and this car hypotelorism, please keep safe distance between vehicles "；Current vehicle is with this car apart from DiValue
Scope is Dr1＜ D1≤2Dr1When, the output end of control unit is simultaneously emitted by both voice alarm module and self-actuating brake module
Signal, voice alarm module reminds driver's " front truck and this car hypotelorism, start self-actuating brake ", and self-actuating brake module is automatic
Braking processing is carried out to vehicle；Current vehicle is with this car apart from D1Span is 0 ＜ D1≤Dr1When, the output end of control unit to
Voice alarm module, self-actuating brake module and electromagnetic anti-collision module three are simultaneously emitted by signal, and voice alarm module, which is reminded, to be driven
Person's " front truck and this car hypotelorism, start electromagnetic anti-collision ", self-actuating brake module is automatic to carry out braking processing to vehicle, opens simultaneously
Dynamic this car electromagnetic anti-collision module simultaneously notifies front truck to start electromagnetic anti-collision module, this car electromagnetic anti-collision module and front truck electromagnetic anti-collision mould
Block polarization identical electromagnetic field, makes to produce electromagnetic repulsive force between Ben Che and front truck, it is to avoid collision occurs or reduced to touch
The degree of injury hit.
5. a kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five according to claim 2, it is characterised in that minimum safe distance
From Dr2Calculated by following steps：
(1) after car ultrasonic distance measuring module by constantly detect ultrasonic wave transmitting after run into the echo that rear car is reflected so that
Measure transmitting ultrasonic wave and receive the time difference Δ T of echo；Ultrasonic wave module surveys current air temperature according to temperature sensor
Corresponding acoustic velocity value C is calculated, and according to formula S=C × Δ T/2, calculates this current car and rear car spacing S；
(2) this car vehicle speed measurement module directly gathers the vehicle speed value in automotive speedometer；
(3) collision recognition module collects this car and rear car spacing value S that ultrasonic sensor after car is inputted and changed after car, with
And collect this car vehicle speed value V of this car vehicle speed measurement module input1；According to formulaCalculate rear car vehicle speed value
V3；According to formulaWithCalculate this car acceleration magnitude a1With rear car acceleration magnitude a3；Finally according to formula,Draw Ben Che and the minimum safe spacing D of rear carr2, wherein：Tf3For
Rear car driver is to the reaction crash time of our vehicle, Td3For rear car brake coordination time, Tz3When increasing for rear car deceleration
Between, φ1For braking distance correction factor；For cement pavement, φ1=0.06；For bituminous paving, φ1=0.12.
6. the gauge initiative alarming anticollision device, collision-prevention device of a kind of automobile five according to claim 2, it is characterised in that when rear car and this
Car is apart from D2Span is Dr2＜ D2≤3Dr2When, the output end of control unit sends signal, voice reporting to voice alarm module
Alert module reminds driver's " rear car and this car hypotelorism, please keep safe distance between vehicles "；When rear car and this car are apart from D2Value model
Enclose for 0 ＜ D2≤Dr2When, the output end of control unit is simultaneously emitted by signal to both voice alarm module and electromagnetic anti-collision module,
Voice alarm module reminds driver's " rear car and this car hypotelorism, start electromagnetic anti-collision ", while starting this car electromagnetic anti-collision
Module simultaneously notifies rear car to start electromagnetic anti-collision module, and this car electromagnetic anti-collision module is identical with rear car electromagnetic anti-collision module polarization
Electromagnetic field, make to produce electromagnetic repulsive force between Ben Che and rear car, it is to avoid collision occur or reduce collision degree of injury.
7. a kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five according to claim 1, it is characterised in that electromagnetic anti-collision mould
Block includes automobile storage battery, inverter, booster, strong current generator, rectifier and the superconducting device being sequentially connected；Automobile stores
Direct current is produced in battery, by inverter, booster, strong current generator and rectifier, the direct current more than 1 kiloampere is produced
In electric current feeding superconducting device, high-intensity magnetic field is produced.
8. the gauge initiative alarming anticollision device, collision-prevention device of a kind of automobile five according to claim 1, it is characterised in that Chinese herbaceous peony collision is known
Collision recognition system shares this car vehicle speed measurement module after other system and car.
9. a kind of gauge initiative alarming avoiding collision of automobile five, it is characterised in that anti-based on a kind of gauge initiative alarming of automobile five
Collision device, a kind of gauge initiative alarming anticollision device, collision-prevention device of automobile five, including collision recognition system after Chinese herbaceous peony collision recognition system, car
System and five gauges judge processing system；
Chinese herbaceous peony collision recognition system includes Chinese herbaceous peony ultrasonic distance measuring module, this car vehicle speed measurement module and Chinese herbaceous peony collision recognition mould
Block；
Collision recognition system includes collision recognition mould after ultrasonic distance measuring module, this car vehicle speed measurement module and car after car after car
Block；
Five gauges judge that processing system includes control unit, voice alarm module, self-actuating brake module and electromagnetic anti-collision module；
Input of the output end of Chinese herbaceous peony ultrasonic distance measuring module and Ben Che vehicle speed measurement modules with Chinese herbaceous peony collision recognition module
Connection；Input of the output end of ultrasonic distance measuring module and Ben Che vehicle speed measurement modules with collision recognition module after car after car
Connection；Output end of the input of control unit respectively with collision recognition module after Chinese herbaceous peony collision recognition module and car is connected, control
Input of the output end of unit processed respectively with voice alarm module, self-actuating brake module and electromagnetic anti-collision module is connected；
Chinese herbaceous peony ultrasonic distance measuring module is used for the distance for detecting this car and front truck；Ultrasonic distance measuring module is used to detect this car after car
With the distance of rear car；This car vehicle speed measurement module is used to gather this vehicle speed information；Chinese herbaceous peony collision recognition module is used for according to car
The output information of preceding ultrasonic distance measuring module and Ben Che vehicle speed measurement module calculates the minimum safe distance between front truck and this car
Dr1；Collision recognition module is used to be calculated according to the output information of ultrasonic distance measuring module after car and Ben Che vehicle speed measurement modules after car
Minimum safe distance D between rear car and this carr2；Control unit is used for according to collision recognition after Chinese herbaceous peony collision recognition module and car
The output information of module controls one or more works in correspondingly voice alarm module, self-actuating brake module and electromagnetic anti-collision module
Make；
The gauge initiative alarming avoiding collision of a kind of automobile five, comprises the following steps：
1) collision recognition system monitors this car and front truck and the distance of rear car in real time after Chinese herbaceous peony collision recognition system and car, and calculates
The minimum safe distance D of this car and front truckr1With Ben Che and the minimum safe distance D of rear carr2；
2) control unit is according to step 1) data that monitor in real time, the anticollision for carrying out this car and front truck judges and Ben Che and rear car
Anticollision judge, wherein：
The anticollision of this car and front truck judges to include：Current vehicle is with this car apart from D1Span is 2Dr1＜ D1≤3Dr1When, control
The output end of unit processed sends signal to voice alarm module, and voice alarm module reminds driver that " front truck is with this car apart from mistake
Closely, safe distance between vehicles please be keep "；Current vehicle is with this car apart from D1Span is Dr1＜ D1≤2Dr1When, the output end of control unit
Signal is simultaneously emitted by both voice alarm module and self-actuating brake module, voice alarm module reminds driver " front truck and sheet
Car hypotelorism, starts self-actuating brake ", self-actuating brake module is automatic to carry out braking processing to vehicle；Current vehicle and this car distance
D1Span is 0 ＜ D1≤Dr1When, the output end of control unit is to voice alarm module, self-actuating brake module and electromagnetic anti-collision
Module three is simultaneously emitted by signal, and voice alarm module reminds driver's " front truck and this car hypotelorism, start electromagnetic anti-collision ",
Self-actuating brake module is automatic to carry out braking processing to vehicle, while starting this car electromagnetic anti-collision module and notifying front truck to start electromagnetism
Anticollision module, this car electromagnetic anti-collision module and front truck electromagnetic anti-collision module polarization identical electromagnetic field, make front truck and Ben Che
Between produce electromagnetic repulsive force, it is to avoid collision occur or reduce collision degree of injury；
This car and the anticollision of rear car judge to include：When rear car and this car are apart from D2Span is Dr2＜ D2≤3Dr2When, control
The output end of unit sends signal to voice alarm module, voice alarm module remind driver " rear car and this car hypotelorism,
It please keep safe distance between vehicles "；When rear car and this car are apart from D2Span is 0 ＜ D2≤Dr2When, the output end of control unit is to language
Both sound alarm module and electromagnetic anti-collision module are simultaneously emitted by signal, and voice alarm module reminds driver " rear car and this spacing
From excessively near, start electromagnetic anti-collision ", while starting this car electromagnetic anti-collision module and notifying rear car to start electromagnetic anti-collision module, this car
Electromagnetic anti-collision module and rear car electromagnetic anti-collision module polarization identical electromagnetic field, make to produce electromagnetism row between Ben Che and rear car
Repulsion, it is to avoid the degree of injury of collision occurs or reduced for collision.
10. a kind of gauge initiative alarming avoiding collision of automobile five according to claim 9, it is characterised in that minimum safe
Apart from Dr1Calculated by following steps：
(1.1) Chinese herbaceous peony ultrasonic distance measuring module by constantly detect ultrasonic wave transmitting after run into the echo that front truck is reflected, from
And measure transmitting ultrasonic wave and receive the time difference of echoΔT；Chinese herbaceous peony ultrasonic wave module surveys present air according to temperature sensor
Temperature calculates corresponding acoustic velocity value C, and according to formula S=C × Δ T/2, calculates this current car and front truck spacing S；
(1.2) this car vehicle speed measurement module directly gathers the vehicle speed value in automotive speedometer；
(1.3) Chinese herbaceous peony collision recognition module collects this car and front truck spacing value S that Chinese herbaceous peony ultrasonic sensor is inputted and changed,
And collect this car vehicle speed value V of this car vehicle speed measurement module input1；According to formulaCalculate front truck car
Fast value V2；According to formulaWithCalculate this car acceleration magnitude a1With front truck acceleration magnitude a2；Finally according to formulaDraw the minimum safe spacing D of Ben Che and front truckr1, wherein：Tf1For this
Car driver is to the reaction crash time of front vehicles, Td1For this car brake coordination time, Tz1When increasing for this car deceleration
Between, φ1For braking distance correction factor；Wherein, for cement pavement, φ1=0.06；For bituminous paving, φ1=0.12；
Minimum safe distance Dr2Calculated by following steps：
(2.1) after car ultrasonic distance measuring module by constantly detect ultrasonic wave transmitting after run into the echo that rear car is reflected, from
And measure transmitting ultrasonic wave and receive the time difference Δ T of echo；Ultrasonic wave module surveys present air temperature according to temperature sensor
Degree calculates corresponding acoustic velocity value C, and according to formula S=C × Δ T/2, calculates this current car and rear car spacing S；
(2.2) this car vehicle speed measurement module directly gathers the vehicle speed value in automotive speedometer；
(2.3) collision recognition module collects this car and rear car spacing value S that ultrasonic sensor after car is inputted and changed after car,
And collect this car vehicle speed value V of this car vehicle speed measurement module input1；According to formulaCalculate rear car speed
Value V3；According to formulaWithCalculate this car acceleration magnitude a1With rear car acceleration magnitude a3；Finally according to formulaDraw Ben Che and the minimum safe spacing D of rear carr2, wherein：Tf3For
Rear car driver is to the reaction crash time of our vehicle, Td3For rear car brake coordination time, Tz3When increasing for rear car deceleration
Between, φ1For braking distance correction factor；Wherein, for cement pavement, φ1=0.06；For bituminous paving, φ1=0.12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710229458.8A CN107128302B (en) | 2017-04-10 | 2017-04-10 | A kind of five limit initiative alarming anticollision device, collision-prevention device of automobile and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710229458.8A CN107128302B (en) | 2017-04-10 | 2017-04-10 | A kind of five limit initiative alarming anticollision device, collision-prevention device of automobile and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107128302A true CN107128302A (en) | 2017-09-05 |
| CN107128302B CN107128302B (en) | 2019-05-03 |
Family
ID=59716277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710229458.8A Active CN107128302B (en) | 2017-04-10 | 2017-04-10 | A kind of five limit initiative alarming anticollision device, collision-prevention device of automobile and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107128302B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108716324A (en) * | 2018-03-26 | 2018-10-30 | 江苏大学 | A kind of enabling anti-collision system and method suitable for autonomous driving vehicle |
| CN109094505A (en) * | 2018-10-10 | 2018-12-28 | 厦门大学嘉庚学院 | Rear car warning system and alarming method for power based on ultrasonic distance measurement |
| CN110040133A (en) * | 2019-04-26 | 2019-07-23 | 浙江吉利控股集团有限公司 | Anti-collision warning method and early warning system after a kind of vehicle |
| CN110154957A (en) * | 2019-06-17 | 2019-08-23 | 刘子昂 | A kind of automotive safety safeguards system |
| CN110745128A (en) * | 2019-09-18 | 2020-02-04 | 江苏大学 | Vehicle forced deceleration system based on minimum safe distance and control method |
| CN110803164A (en) * | 2018-08-02 | 2020-02-18 | 长城汽车股份有限公司 | Vehicle distance control method and system of fleet and vehicle |
| CN110979382A (en) * | 2019-12-30 | 2020-04-10 | 交控科技股份有限公司 | Train electromagnetic anti-collision system and method |
| CN110979401A (en) * | 2019-12-30 | 2020-04-10 | 交控科技股份有限公司 | Method and device for preventing collision of cooperative formation trains |
| CN111105643A (en) * | 2018-10-09 | 2020-05-05 | 上海汽车集团股份有限公司 | Vehicle anti-collision method, device and system |
| CN112140988A (en) * | 2019-06-28 | 2020-12-29 | Oppo广东移动通信有限公司 | Anti-collision reminding method and device, vehicle-mounted equipment and storage medium |
| CN113071409A (en) * | 2021-04-09 | 2021-07-06 | 深圳市大班长科技有限公司 | Anti-collision system and device for motor vehicles in driving schools |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1223093A2 (en) * | 2001-01-09 | 2002-07-17 | Nissan Motor Company, Limited | Braking control system with object detection system interaction |
| EP1632383A1 (en) * | 2004-09-01 | 2006-03-08 | Mazda Motor Corporation | Travelling control device, method and computer program product |
| KR100847747B1 (en) * | 2007-05-03 | 2008-07-22 | 주식회사 만도 | Automatic braking method to reduce collision damege incase of crash with front vehicle |
| CN102463951A (en) * | 2011-09-07 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Automobile longitudinal collision relieving system and control method |
| CN202243453U (en) * | 2011-10-17 | 2012-05-30 | 秦孝康 | Intelligent anti-collision system for automobile |
| CN202389366U (en) * | 2011-11-30 | 2012-08-22 | 浙江金刚汽车有限公司 | Automotive anti-collision control system based on ultrasonic waves |
| CN102991416A (en) * | 2012-12-10 | 2013-03-27 | 常州大学 | Traffic safety distance control system for automobile and method thereof |
| CN104149728A (en) * | 2013-05-14 | 2014-11-19 | 株式会社电装 | Collision mitigation apparatus |
-
2017
- 2017-04-10 CN CN201710229458.8A patent/CN107128302B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1223093A2 (en) * | 2001-01-09 | 2002-07-17 | Nissan Motor Company, Limited | Braking control system with object detection system interaction |
| EP1632383A1 (en) * | 2004-09-01 | 2006-03-08 | Mazda Motor Corporation | Travelling control device, method and computer program product |
| KR100847747B1 (en) * | 2007-05-03 | 2008-07-22 | 주식회사 만도 | Automatic braking method to reduce collision damege incase of crash with front vehicle |
| CN102463951A (en) * | 2011-09-07 | 2012-05-23 | 浙江吉利汽车研究院有限公司 | Automobile longitudinal collision relieving system and control method |
| CN202243453U (en) * | 2011-10-17 | 2012-05-30 | 秦孝康 | Intelligent anti-collision system for automobile |
| CN202389366U (en) * | 2011-11-30 | 2012-08-22 | 浙江金刚汽车有限公司 | Automotive anti-collision control system based on ultrasonic waves |
| CN102991416A (en) * | 2012-12-10 | 2013-03-27 | 常州大学 | Traffic safety distance control system for automobile and method thereof |
| CN104149728A (en) * | 2013-05-14 | 2014-11-19 | 株式会社电装 | Collision mitigation apparatus |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108716324A (en) * | 2018-03-26 | 2018-10-30 | 江苏大学 | A kind of enabling anti-collision system and method suitable for autonomous driving vehicle |
| CN110803164B (en) * | 2018-08-02 | 2021-04-20 | 长城汽车股份有限公司 | Vehicle distance control method and system of fleet and vehicle |
| CN110803164A (en) * | 2018-08-02 | 2020-02-18 | 长城汽车股份有限公司 | Vehicle distance control method and system of fleet and vehicle |
| CN111105643A (en) * | 2018-10-09 | 2020-05-05 | 上海汽车集团股份有限公司 | Vehicle anti-collision method, device and system |
| CN109094505A (en) * | 2018-10-10 | 2018-12-28 | 厦门大学嘉庚学院 | Rear car warning system and alarming method for power based on ultrasonic distance measurement |
| CN110040133A (en) * | 2019-04-26 | 2019-07-23 | 浙江吉利控股集团有限公司 | Anti-collision warning method and early warning system after a kind of vehicle |
| CN110154957A (en) * | 2019-06-17 | 2019-08-23 | 刘子昂 | A kind of automotive safety safeguards system |
| CN112140988A (en) * | 2019-06-28 | 2020-12-29 | Oppo广东移动通信有限公司 | Anti-collision reminding method and device, vehicle-mounted equipment and storage medium |
| CN110745128A (en) * | 2019-09-18 | 2020-02-04 | 江苏大学 | Vehicle forced deceleration system based on minimum safe distance and control method |
| CN110979401A (en) * | 2019-12-30 | 2020-04-10 | 交控科技股份有限公司 | Method and device for preventing collision of cooperative formation trains |
| CN110979382A (en) * | 2019-12-30 | 2020-04-10 | 交控科技股份有限公司 | Train electromagnetic anti-collision system and method |
| CN110979401B (en) * | 2019-12-30 | 2021-03-12 | 交控科技股份有限公司 | Method and device for preventing collision of cooperative formation trains |
| WO2021134855A1 (en) * | 2019-12-30 | 2021-07-08 | 交控科技股份有限公司 | Cooperative formation train anti-collision method and device |
| CN113071409A (en) * | 2021-04-09 | 2021-07-06 | 深圳市大班长科技有限公司 | Anti-collision system and device for motor vehicles in driving schools |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107128302B (en) | 2019-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107128302B (en) | A kind of five limit initiative alarming anticollision device, collision-prevention device of automobile and method | |
| CN102673561B (en) | A kind of rear-end collision preventing system and method | |
| CN102897155B (en) | Collision avoidance system and automatic braking method of electric automobile | |
| CN102407816B (en) | Early warning system and detection method for safety performance of large bus based on controller area network (CAN) bus | |
| CN102785660A (en) | Vehicle collision-proof early warning device | |
| CN104494550A (en) | Active anticollision device of vehicle and calculating method of anticollision distance | |
| CN105523031B (en) | A kind of electric car vacuum system failure supplementary security system and its control method | |
| CN101293503A (en) | Anti-collision control method for vehicle and anti-collision warning device for vehicle | |
| CN108407715A (en) | A kind of automobile safety early-warning system and method | |
| CN103448720B (en) | Automobile flat tire anti-knock into the back control method and control setup | |
| CN202400085U (en) | Automobile rear-end prevention system | |
| CN204641645U (en) | A kind of active collision early warning system on automobile | |
| CN106080482A (en) | A kind of automobile deceleration safety system | |
| JP2013119388A (en) | Emergency braking control device for vehicle and emergency braking control method | |
| CN101648521B (en) | Self-actuating braking system and control method thereof | |
| CN106143144A (en) | The intelligent safety control system of vehicle and vehicle | |
| CN105128838B (en) | The method and system of active reduction of speed are carried out to automobile in crossing | |
| CN203410402U (en) | Automobile intelligent protecting system | |
| CN204383457U (en) | A kind of vehicle Collision avoidance device | |
| CN107628034A (en) | One kind is based on opencv intelligent driving accessory systems | |
| CN103448702B (en) | Automobile flat tire anti-knock into the back control setup and control method | |
| CN202879464U (en) | Anti-colliding alarming braking system | |
| CN202389366U (en) | Automotive anti-collision control system based on ultrasonic waves | |
| CN109501802A (en) | Active brake system based on Electric booster | |
| CN203698192U (en) | Automatic auto alarming brake |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |