CN101544213B - 24-hour vehicle turning overspeed control device - Google Patents
24-hour vehicle turning overspeed control device Download PDFInfo
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- CN101544213B CN101544213B CN2009100982856A CN200910098285A CN101544213B CN 101544213 B CN101544213 B CN 101544213B CN 2009100982856 A CN2009100982856 A CN 2009100982856A CN 200910098285 A CN200910098285 A CN 200910098285A CN 101544213 B CN101544213 B CN 101544213B
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Abstract
The invention provides a 24-hour vehicle turning overspeed control device. The device solves problems such as accidents caused by three main factors including visual line, speed and surface gathered water during the turning of the prior automobile. The 24-hour vehicle turning overspeed control device comprises a control center, a power supply connected with the control center and an inertia signal measurement circuit, wherein the inertia signal measurement circuit is connected with the control center; the control center is also connected with a vehicle interior signal source; after the comprehensive analysis and calculation of an inertia signal and a signal of the vehicle interior signal source, the control center generates a control signal; and the output end of the control center is connected with an execution circuit. The control device can ensure automatic control over speed reduction and prompt and alarm at the first time during overspeed turning in all kinds of weather without requiring the calculation of the relation between a vehicle speed and a turning angle of a driver, thereby eliminating various risks and hidden dangers which occur during the turning of most vehicles.
Description
Technical field
The invention belongs to the electron controls technology field, relate to a kind of turn inside diameter hypervelocity control setup, the particularly a kind of 24-hour vehicle turning overspeed control device that can realize friction speed control according to the difference of various Changes in weather and turn inside diameter state.
Background technology
Vehicle is a kind of vehicle quickly and easily, and through 100 years of development and improvement, the potentiality of hardware such as driving engine, chassis, transmission, rotation are near digging to the greatest extent.Easily control angle from safety, develop the trend that becomes global auto manufacturing towards electronic direction.But along with the improvement of road traffic condition and the progress of automotive technology, the speed of vehicle also improves constantly, and the densification of wagon flow is serious day by day, and vehicle has increased various safety problems in the process of travelling.Especially when turning, natural weather can influence sight line, even speed is not to be perfectly safe slowly yet.Because the existence of centnifugal force is arranged, to run at high speed when turning, surface gathered water very easily causes the danger of sliding, fall, turning over.According to traffic accident report statistics, the reason of a lot of accidents is researched and analysed to show owing to the turn inside diameter excessive velocities causes, and the speed of a motor vehicle accounts for 40% when 80km/h-100km/h, when the speed of a motor vehicle when 160km/h is above then up to 95%.
Existing device and the scheme that relates to turn inside diameter is many, has also having of adopting that mechanical system control turns to adopt the electronics mode to control turning, has also solved some turning security problems.Chassis, the outside is curved excessively to increase stability such as raising; Perhaps press cireular frequency, two parameters of the speed of a motor vehicle, slow down after the hypervelocity of turning; Moreover reach balance and stability etc. by four-wheel takeoff output and brakig force distribution.
For example Chinese patent literature notification number [notification number: CN1184092C] disclosed a kind of being used for warned the bend hypervelocity of turning to the automobilist, with the equipment of warning them to adopt remedial measures, this equipment comprises detecting device, described detecting device comprises one group of mercury switch and warning audio frequency and/or vision signal generating means, each mercury switch comprises cylindrical tube, thereby whether freely move back and forth to detect in described cylindrical tube by mercury bulb exceeds the speed limit when turning and carry out the alarm driver by the warning audio frequency.This equipment is undertaken by the warning audio frequency simply just that the alarm driver takes measures to control turning speed so that vehicle turns back to the safety traffic state as can be seen, and does not accomplish to carry out automatically turning speed control and consider factors such as natural weather.
Certainly, although also invented the electronic safety device of a multitude of names at present, even the energy automatic steering, at solving sight line, speed, surface gathered water, this existing electronics package of turning three maximum big safety factors but is difficult to realize.Sight line can not be left the place ahead during because drive, and is also abnormally dangerous when the turning speed of a motor vehicle is fast slightly even seeing the place ahead, kept off or do not see not far the place ahead when sight line, and it is too fast to add when turning the speed of a motor vehicle, and that is just more dangerous.If this moment, there was ponding on the road surface, encountering problems needs glancing impact, and braking strength is not grasped again, the whipping that gently then breaks away, excessive then tune is rolled, when the sharp turn anxious again in a flash, the vehicle even the road that flies out.So can solve sight line, speed, these Three Difficult Issues of surface gathered water, also just eliminate the dangerous hidden danger of most turn inside diameters.
Summary of the invention
The objective of the invention is at the existing the problems referred to above of existing technology, and provide a kind of under different states, realize the different conditions speed control in the sight line under the different weather situation, speed and three kinds of situations of surface gathered water, thereby the dangerous problem when eliminating the turn inside diameter hypervelocity, the 24-hour vehicle turning overspeed control device of raising turn inside diameter safety factor.
Purpose of the present invention can realize by following technical proposal: a kind of 24-hour vehicle turning overspeed control device, comprise control center and the coupled power supply that is used to provide electric energy, it is characterized in that, after also comprising the inertial signal when being used for collection vehicle turns and convert electric signal to, described control setup is passed to the inertial signal metering circuit of control center, described inertial signal metering circuit is connected with above-mentioned control center, described control center also is connected with the vehicle interior signal source, described control center carries out producing control signal after the comprehensive analyses computing to the signal of above-mentioned inertial signal and vehicle interior signal source, and described control center mouth connects and is used for the control signal of mission control center and then the executive circuit of control vehicle turning speed.
In above-mentioned 24-hour vehicle turning overspeed control device, also be connected with the photoelectricity coupled circuit that is used for the signal of vehicle interior signal source is passed to control center between described control center and the vehicle interior signal source, described vehicle interior signal source comprises that vehicle light, wiper and car speed sensor all are connected with the photoelectricity coupled circuit.
This device mainly is to be used in when vehicle is crossed curved the hypervelocity to be used for the speed of vehicle is reduced, thereby prevents that Ackermann steer angle is difficult to accurately judge that the speed of a motor vehicle is too fast, the untimely again traffic accident that causes of slowing down.
The invention consider these three realistic problems of sight line, speed and surface gathered water under the different weather situation to the influence of vehicle stabilization ground safety turning, not only complexity but also alter a great deal, but also differ greatly.By the arrangement of turning speed height, screen satisfying under the multiple condition simultaneously, thereby it is also inequality to reach the curved excessively speed of the vehicle of control.
Better such as fine light, sight line is clear, the visual field is broad, can be curved excessively when then turning with normal speed.If but run into rainy day and light difference, sight line is bad, the curved speed of the mistake of vehicle relatively will be crossed curved safety to guarantee vehicle slowly when then turning.
The situation of often running into is such as descending moderate rain evening again, snow, at this moment the driver opens country beam and windscreen wiper is middle-grade, the photoelectricity coupled circuit here mainly is exactly to be used for transmitting the vehicle internal signal sources to comprise by passing light, country beam, adverse-weather lamp, the vehicle light that fog tail lamp is formed, windscreen wiper is shelves intermittently, windscreen wiper is middle-grade, the windscreen wiper top grade, signal parameters such as car speed sensor are to control center, that is to say and pass through passing light, country beam, adverse-weather lamp, fog tail lamp, windscreen wiper is shelves intermittently, windscreen wiper is middle-grade, the signal parameter of windscreen wiper top grade marks off different weather conditions, thereby come judgment processing vehicle turning speed at that time to belong to the condition of which kind of state of weather by control center, the inertial signal metering circuit is gathered current vehicles horizontal angle speed or lateral acceleration data again simultaneously; After the multiple signal that control center comes above-mentioned transmission carries out comprehensive analyses calculating, judge with this whether vehicle exceeds the speed limit when turning under this condition, if hypervelocity then export control signal control executive circuit vehicle is slowed down, and will cross curved speed and be reduced in the scope of the curved speed of safe mistake.
In above-mentioned 24-hour vehicle turning overspeed control device, described control center also connects the surround lighting metering circuit that is passed to control center after being used to gather the surrounding environment optical signal and converting electric signal to, described surround lighting metering circuit comprises interconnective ambient light sensor and voltage comparator, voltage comparator is connected with control center, described ambient light sensor is gathered the current environment optical signal and is sent to after voltage comparator makes comparisons, and by voltage comparator comparative result is passed to control center.
The surround lighting metering circuit here is to be used for gathering current surrounding environment optical signal and to be passed to control center, is come the bright degree of judgment processing prevailing circumstances by control center.
Ambient light sensor was in the sensing state for the treatment of after evening, country beam or passing light were opened as mentioned above, when around surround lighting stronger, the illumination that ambient light sensor obtains sufficient intensity is penetrated and is in low resistive state, then voltage comparator is to control center's output low level, carry out the predefined curved speed of crossing faster, when around surround lighting a little less than, ambient light sensor is in high-impedance state, then voltage comparator is exported high level to control center, carries out the curved speed of predefined slower mistake.
Because the rather dark sight line comparatively speaking of night-road illumination light is bad, the speed when therefore turning just just can have the enough time to see side road ahead situation clearly accordingly slowly.And night, the road lamp optical illumination was good, and near daytime, sight line is better comparatively speaking, and then the curved speed of Ci Shi mistake can also be safe to cross curved near the speed on daytime soon.
In above-mentioned 24-hour vehicle turning overspeed control device, after also connecting surface gathered water signal when being used for collection vehicle and travelling and convert electric signal to, described control center is passed to the surface gathered water metering circuit of control center, described surface gathered water metering circuit comprises interconnective surface gathered water sensor and voltage comparator, voltage comparator is connected with control center, the current surface gathered water signal of described surface gathered water sensor acquisition also is sent to after voltage comparator makes comparisons, and by voltage comparator comparative result is passed to control center.
The surface gathered water metering circuit here is that whether judgment processing existed ponding in the road surface at that time after gathering current surface gathered water signal and being passed to control center.
When ponding being arranged,, be divided into two states and handle according to big or small to the curved excessively danger of vehicle safety such as the road surface:
1, fast state, (the high speed boundary is according to different vehicle set) establishes its safety turning Velocity Reference value very little, and when vehicle turned to slightly, promptly lateral acceleration was big slightly, and this control setup just can be carried out and slow down and the prompting warning, and this is special the setting.
2, middle lower-speed state, when Vehicle Speed is lower than the safety turning Velocity Reference setting value of fast state, even the surface gathered water sensor provides the surface gathered water signal, this control setup is not carried out this condition yet and is slowed down, condition according to other various weather conditions is carried out, and does not skid because can not cause.
In above-mentioned 24-hour vehicle turning overspeed control device, described inertial signal metering circuit comprises interconnective inertial sensor and A/D A and D converter, the A/D A and D converter is connected with control center, and described inertial sensor is passed to control center after gathering the horizontal angle speed of current Ackermann steer angle or lateral acceleration analog signal and converting digital signal to by the A/D A and D converter.
Here inertial sensor can be angular velocity sensor or two kinds of schemes of acceleration pick-up:
Scheme 1: inertial sensor is an angular velocity sensor, and angular velocity sensor is passed to control center after gathering the horizontal angle velocity simulate signal of current Ackermann steer angle and converting digital signal to by the A/D A and D converter;
Scheme 2: inertial sensor is an acceleration pick-up, and described acceleration pick-up is passed to control center after gathering the lateral acceleration analog signal of current Ackermann steer angle and converting digital signal to by the A/D A and D converter.
In above-mentioned 24-hour vehicle turning overspeed control device, described executive circuit comprises relay one, relay two, electromagnet, tail-light and BK Brake Switch are formed, the coil of relay one is connected with control center, the coil of relay two is connected with BK Brake Switch, the open contact one tunnel of relay one connects tail-light, another road is connected with the normally closed contact of relay two, the normally closed contact of relay two is connected with electromagnet, described control center drives relay one open contact closure, normally closed contact through relay two, work of electromagnet draws and lifts the Das Gaspedal bar reduces throttle, thereby control vehicle turning speed, two adhesives of glancing impact relay, relay two normally closed contacts disconnect, and electromagnet quits work.
In above-mentioned 24-hour vehicle turning overspeed control device, described executive circuit comprises by electronics mode Throttle Opening Control, described control center transmits control signal to the engine control chip, thereby by engine control chip controls engine air throttle control vehicle turning speed.
In above-mentioned 24-hour vehicle turning overspeed control device, described control center comprises and is used to obtain the cab signal source signal, the cab signal source signal of the electric signal of ambient light signal and surface gathered water signal and ambient signal acquisition module, be used to obtain the inertial signal acquisition module of horizontal angle speed or lateral acceleration digital signal, signal processing module and judging treatmenting module, the cab signal source signal is connected with signal processing module with the ambient signal acquisition module, signal processing module is connected with judging treatmenting module, the inertial signal acquisition module is connected with judging treatmenting module, signal processing module goes out different weather and ambient condition according to the division of signal that cab signal source signal and ambient signal acquisition module obtain, the inertial signal that weather that judging treatmenting module draws according to signal processing module and ambient condition and inertial signal acquisition module obtain sends control signal to executive circuit after the comprehensive treatment.
In above-mentioned 24-hour vehicle turning overspeed control device, also comprise the safety turning Velocity Reference value setting module that is used to set the safety turning Velocity Reference value that left and right vehicle wheel turns in judging treatmenting module, this safety turning Velocity Reference value setting module is connected with signal processing module.
The safety turning Velocity Reference value setting module here is the sub-module in the judging treatmenting module, the user can set corresponding a reference value according to difference turning type by program in safety turning Velocity Reference value setting module like this, the signal of the difference turning type after signal processing module will be handled is passed to and safety turning Velocity Reference value setting module, simultaneously judging treatmenting module accesses the inertial signal that corresponding safety turning Velocity Reference value and inertial signal acquisition module obtain, and sends control signal to executive circuit after comprehensive treatment.
In above-mentioned 24-hour vehicle turning overspeed control device, described control center also is connected with the warning indicating circuit, and described warning indicating circuit comprises that being used to of all being connected with control center shows the indicator lamp of turning overspeed condition and be used to carry out the buzzer phone that audible alarm is pointed out.
Compared with prior art, the advantage of this 24-hour vehicle turning overspeed control device is:
(1), this control setup can be distinguished various state of weather such as day, night, rain, snow, mist and have round-the-clock function at sight line.
(2), this control setup has also been realized the difference control of left and right sides turning speed simultaneously.
(3), this control setup can significantly reduce because of the ground-surface relatively friction coefficient of tire that Changes in weather causes on the same road surface of perception.
(4), this control setup has high speed, middling speed, low speed section turning deceleration at full speed.
(5), this control setup has the function of accurate explanation road lamp optical illumination light and shade at night, solved under the condition of different weather situation realistic problem to driver's sight line influence, and have or not factors such as ponding, road lamp optical illumination difference in conjunction with speed, road surface, eliminated the various dangerous hidden danger that most Ackermann steer angles occur.
(6), guarantee that the driver needn't calculate the relation of the speed of a motor vehicle and angle of turn, in the very first time of hypervelocity of turning, this control setup automatic guidance slows down and prompting is reported to the police, made curved having become easily safely, and under various weather complicated and changeable, also can handle a situation with ease, significantly improved vehicle and occupant's safety factor, had various states to cross the standard of curved speed simultaneously, the driver that can also guarantee of a specified duration forms good driving custom.
(7), in addition the The whole control device has advantages such as simple in structure, with low cost and easy for installation, mix vehicle running recording instrument and also can distinguish responsibility between passenger station and the chaufeur.
Description of drawings
Fig. 1 is the whole functional-block diagram of this 24-hour vehicle turning overspeed control device.
Fig. 2 is the photoelectricity coupled circuit in this 24-hour vehicle turning overspeed control device and the schematic diagram of power supply.
Fig. 3 is the surround lighting metering circuit in this 24-hour vehicle turning overspeed control device and the electrical schematic diagram of surface gathered water metering circuit
Fig. 4 is the electrical schematic diagram of the inertial signal metering circuit in this 24-hour vehicle turning overspeed control device
Fig. 5 is the warning indicating circuit in this 24-hour vehicle turning overspeed control device and the electrical schematic diagram of executive circuit.
Fig. 6 is the concrete individual event function operation of a kind of embodiment constitution diagram in this 24-hour vehicle turning overspeed control device.
Among the figure, 100, control center; 100-1, cab signal source signal and ambient signal acquisition module; 100-2, inertial signal acquisition module; 100-3, signal processing module; 100-4, judging treatmenting module; 100-4-1, safety turning Velocity Reference value setting module; 101, photoelectricity coupled circuit; 102, surround lighting metering circuit; 102-1, ambient light sensor; 102-2, voltage comparator; 103, surface gathered water metering circuit; 103-1, surface gathered water sensor; 103-2, voltage comparator; 104, inertial signal metering circuit; 104-1, inertial sensor; 104-2, A/D A and D converter; 105, executive circuit; 105-1, relay one; 105-2, relay two; 105-3, electromagnet; 106, tail-light; 107, warning indicating circuit; 107-1, indicator lamp; 107-2, buzzer phone; 108, vehicle interior signal source.
The specific embodiment
Below be specific embodiments of the invention and in conjunction with the accompanying drawings, technical scheme of the present invention is further described, but the present invention be not limited to these embodiment.
Embodiment one
As shown in Figure 1, this 24-hour vehicle turning overspeed control device, comprise control center 100, power supply, surround lighting metering circuit 102, surface gathered water metering circuit 103, inertial signal metering circuit 104, executive circuit 105, warning indicating circuit 107 and being used for and vehicle interior signal source 108 bonded assembly photoelectricity coupled circuits 101, warning indicating circuit 107 comprises that being used to of all being connected with control center 100 shows the indicator lamp 107-1 of turning overspeed condition and be used to carry out the buzzer phone 107-2 that audible alarm is pointed out that the control center 100 here adopts singlechip microcontroller.
The signal of vehicle interior signal source 108 comprise the vehicle light of forming by passing light, country beam, adverse-weather lamp, fog tail lamp that all is connected, windscreen wiper with photoelectricity coupled circuit 101 intermittently shelves, windscreen wiper is middle-grade, windscreen wiper is high-grade and signal such as car speed sensor, here windscreen wiper be manually can be divided into third gear comprise windscreen wiper intermittently shelves, windscreen wiper is middle-grade, windscreen wiper is high-grade, also can adopt automatic wiper then by by singlechip microcontroller signal being divided into several grades.
As shown in Figure 2, power supply and photoelectricity coupled circuit 101 are as follows with the concrete connection mode of singlechip microcontroller: the pin 1 of DC decompression chip DC1 connects the negative pole of vehicle accumulator BAT1, pin 4 connects the positive pole of vehicle accumulator BAT1, capacitor C 1, C2 and crystal oscillator X1 constitute the sequential circuit of microcontroller U1, and capacitor C 3 and resistance R 1 have constituted the electrify restoration circuit of microcontroller U1; The pin 1 of connector J1,2,3,4,5,6,7,8 anodes that connect the photoelectricity coupling respectively are the pin 1 of U3,3,5,7 and the pin 1 of U4,3,5,7, the pin 2 of U3,4,6,8 and the pin 2 of U4,4,6,8 receive the pin 2 of exclusion RP1 respectively, 3,4,5,6,7,8,9, the pin 1 of RP1 connects the negative pole of vehicle accumulator BAT1, this exclusion is used as the current-limiting resistance of photoelectricity coupling, the pin 16 of U3,14,12,10 and the pin 16 of U4,14,12,10 connect the pin 1 of microcontroller U1 respectively, 2,3,4,5,10,11,12, the pin 15 of U3,13,11,9 and the pin 15 of U4,13,11,9 connect the pin 2 of DC decompression chip DC, second half pin 1 of connector J1,2,3,4,5,6,7,8 connect these internal signal sources on the vehicle respectively: the windscreen wiper top grade, windscreen wiper is middle-grade, windscreen wiper is shelves intermittently, fog tail lamp, adverse-weather lamp, country beam, passing light, car speed sensor; When windscreen wiper is in high-grade state, on 1 pin of connector J1 high potential is arranged just, cooresponding photoelectricity coupling conducting, 16 conductings of the pin 15 of U3 and pin, the pin 1 on the microcontroller U1 is pulled low to low level; In like manner, when windscreen wiper is in middle-grade or intermittently during shelves, the pin 2 or 3 on the microcontroller U1 is pulled to low level, when fog tail lamp, adverse-weather lamp, country beam, when passing light is opened, the pin 4,5,10,11 on the microcontroller U1 is pulled low to low level; The signal of car speed sensor is an impulse singla, and after the certain angle of wheel, car speed sensor just can transmit a pulse, and coming then in pulse accordingly, the pin 12 of microcontroller U1 is pulled low to low level.
Surface gathered water metering circuit 103 comprises surface gathered water sensor 103-1 and voltage comparator 103-2, voltage comparator 103-2 is connected with control center 100, here need to prove that surface gathered water sensor 103-1 works immediately when there is ponding on the road surface, quit work during no ponding, but be regardless of daytime, evening and other weather conditions, only reach that fast state is turned (concrete numerical value is decided by different vehicle) and the road surface exists these two conditions of ponding to possess simultaneously under the situation at car speed, promptly reach the safety turning Velocity Reference value of setting when there is ponding on the road surface, just can carry out deceleration.Even this is also not slow down when having ponding to turn owing to vehicle road surface when middle low speed driving, because phenomenons such as sideslip, whipping can not occur.
The surface gathered water sensor 103-1 here is when having detected water and passed through, just can transfer conducting state to from off-state, it is condition sensing, the output result of voltage comparator 103-2 will become low level by original high level, the input end of control center 100 also is pulled to low level like this, and control center 100 has just detected this signal.
The earth-grasping force of same section road tire and friction coefficient differ greatly when high vehicle speeds, the sensation of skidding during craspedodrome is obvious, but danger is not very big, because of short duration accidental point is slided or long continuously light sliding can being remedied by vehicle high speed inertia forward, this phenomenon suffices to show that the earth-grasping force of tire is minimum, friction coefficient is very low, if turn then differ widely, increase along with centnifugal force, also can further significantly reduce again, slightly greatly then very easily break away so turn, whipping, tune, roll, if this moment suddenly stops again in the sharp turn, the vehicle road that can fly out, therefore the safety turning Velocity Reference value that vehicle is run at high speed on the ponding road is arranged when turning is established very for a short time, that is to say very sensitivity, reduce to the risk that has dangerous turn condition minimum.And dry road surface generally is coarse moderate, and friction coefficient is enough big, and Ackermann steer angle is difficult for skidding, and single is safe with this factor of skidding relatively just.
Surround lighting metering circuit 102 comprises interconnective ambient light sensor 102-1 and voltage comparator 102-2, need to prove that here the programme of work of ambient light sensor 102-1 has two:
(1), ambient light sensor 102-1 can not set limit value, allow ambient light sensor 102-1 in relative broad range, detect surrounding environment light degree and work always.
(2), this ambient light sensor 102-1 also can be set allows its work under given conditions.Because optical sensor generally is a photosensor, long term exposure can reduce performance in the sun until damage, so employing in the present embodiment is a kind of mode in back, when having only vehicle at night to open country beam or passing light, ambient light sensor 102-1 just works.During work owing to the resistance value of ambient light sensor 102-1 can change along with the variation of the Illumination intensity of road illumination light.
Resistance just can be less than the critical value of setting when entering the good highway section of illumination when vehicle ', the output result of voltage comparator 102-2 will become low level by original high level, the input end of control center 100 also is pulled to low level like this, control center 100 has just detected this signal, and control center 100 is provided with 5 seconds function of this signal lag simultaneously.When if vehicle ' has on the road that trees hide again in the good but both sides of illumination, signal just changes along with Illumination intensity and changes frequent, but actual the place ahead sight line is good, this delay function is: when continuous this signal that do not detect more than 5 seconds, confirm that just road does not have lighting or throws light on relatively poorly, state changes.
As shown in Figure 3, surface gathered water metering circuit 103 is as follows with being connected of singlechip microcontroller with surround lighting metering circuit 102: the pin 6 of op amp U2:B, one road connecting resistance R9, R9 power connection again is negative, one the tunnel meets photoconductive cell RL, power connection is being just again for RL, pin 5 one road connecting resistance R7 of op amp U2:B, power connection is being just again for resistance R 7, one road connecting resistance R8, R8 power connection again are negative, and the voltage on the pin 5 of op amp U2:B is the voltage of R7 and R8 dividing potential drop gained at this moment, the pin 7 of op amp U2:B connects the pin 27 of microcontroller U1, when ambient lighting intensity was more weak, the RL resistance was bigger, then with after the R9 dividing potential drop made the U+ voltage of op amp U2:B greater than U-voltage, therefore pin 7 is exported high level, when ambient lighting intensity was strong, the RL resistance was less, then with after the R9 dividing potential drop made the U+ voltage of op amp U2:B less than U-voltage, so pin 7 output low levels, the pin 27 of microcontroller U1 is dragged down is low level; The pin 9 of op amp U2:C, one road connecting resistance R6, R6 power connection again is negative, one the tunnel meets surface gathered water sensor RW, power connection is being just again for RW, pin 10 one road connecting resistance R4 of op amp U2:C, resistance R 4 again power connection just, one road connecting resistance R5, R5 power connection again is negative, U+ voltage on the op amp U2:C pin 10 is the voltage of R4 and R5 dividing potential drop gained at this moment, and the pin 8 of op amp U2:C connects the pin 28 of microcontroller U1, when the road surface does not have ponding, the RW resistance is almost infinity, then with after the R6 dividing potential drop make the U+ voltage of op amp U2:C greater than U-voltage, so pin 8 output high level, when there is ponding on the road surface, the RW resistance is less, then with after the R6 dividing potential drop make the U+ voltage of op amp U2:C less than U-voltage, so pin 8 output low levels, the pin 28 of microcontroller U1 is dragged down is low level.
Inertial signal metering circuit 104 comprises interconnective inertial sensor 104-1 and A/D A and D converter 104-2, here inertial sensor 104-1 can adopt acceleration pick-up or angular velocity sensor, angular velocity sensor or acceleration pick-up all are in order to measure the lateral acceleration value when turning, only can directly measure lateral acceleration with acceleration pick-up, with angular velocity sensor then is to measure horizontal angle speed earlier, and then horizontal angle speed being multiply by the speed of a motor vehicle is exactly lateral acceleration.
As shown in Figure 4, what adopt in the present embodiment is angular velocity sensor, inertial signal metering circuit 104 is as follows with the connection mode of singlechip microcontroller: pin 3 power connections of angular velocity sensor S1 just, pin 2 power connections are negative, pin 4 connects the pin 3 of op amp U2:A, pin 1 one tunnel meets electric capacity of voltage regulation C7, one road connecting resistance R3, resistance R 3 one tunnel connects the pin 2 of op amp U2:A, one the tunnel connects LPF capacitor C 6, one road connecting resistance R2, resistance R 2 and capacitor C 6 are received the pin 1 of op amp U2:A again, R2 and R3 are used for setting the magnification factor of op amp U2:A together, the pin 1 of U2:A connects the pin 2 of A/D conversion chip U5, the pin 3 of A/D conversion chip U5,4 one road power connections are negative, one the tunnel connects capacitor C 4, C5, capacitor C 4, power connection is being just again for C5, the pin 1 of A/D conversion chip U5,6,7 connect the pin 21 of microcontroller U1 respectively, 23,22, the pin 5 of A/D conversion chip U5,8 power connections just, angular velocity sensor S1 amplifies the analog quantity that is proportional to cireular frequency of its gained through op amp U2:A, value after amplifying is inputed to the input end pin 2 of A/D conversion chip U5, microcontroller U1 controls analog-to-digital process by the control line that is connected to A/D conversion chip U5 pin 1 and pin 7, then data is transferred in the microcontroller U1 by the connection lead with A/D conversion chip U5 pin 6.The another kind of scheme of inertial signal acquisition cuicuit is to change angular velocity sensor S1 into acceleration pick-up to get final product.
Executive circuit 105 can have two kinds of executive modes, be in the present embodiment mechanically Throttle Opening Control comprise relay one 105-1, relay two 105-2, electromagnet 105-3, tail-light 106 and BK Brake Switch are formed, the coil of relay one 105-1 is connected with control center 100, the coil of relay two 105-2 is connected with BK Brake Switch, the open contact one tunnel of relay one 105-1 connects tail-light 106, another road is connected with the normally closed contact of relay two 105-2, the normally closed contact of relay two 105-2 is connected with electromagnet 105-3, described control center 100 drives relay one 105-1 open contact closure, tail-light 106 is bright, the Das Gaspedal bar is drawn and lifted through the normally closed contact electromagnet 105-3 of relay two 105-2 work in another road reduces throttle, thereby control vehicle turning speed, the two 105-2 adhesives of glancing impact relay, relay two 105-2 normally closed contacts disconnect, and electromagnet 105-3 quits work.
The concrete connection as shown in Figure 5, the pin 16 of microcontroller U1 connects the base stage of aerotron, the emitter power connection of aerotron just, collector connecting relay RL1 coil, BK Brake Switch K1 one termination power just, the coil of one relay termination RL2, the pin 1 of connector J4 is succeeded the open contact of electrical equipment RL1, and pin 2 connects vehicle accumulator BAT1 positive pole, and relay R L1 succeeds the normally closed contact of electrical equipment RL2, relay 2 connects vehicle accumulator BAT1 negative pole, microcontroller U1 is through after the intelligent decision, and its pin 16 is a low level, and test aerotron Q1 is in saturation conditions, relay R L1 adhesive, the conducting of relay R L1 open contact.
This moment is not if the BK Brake Switch on the vehicle has closure, then not adhesive of relay R L2, and the normally closed contact conducting is connected device on the connector J4 this moment and obtains the vehicle accumulator power supply and start working, otherwise then quits work.
Here be by cab signal source signal and ambient signal acquisition module 100-1 with singlechip microcontroller as control center 100, inertial signal acquisition module 100-2, four modules such as signal processing module 100-3 and judging treatmenting module 100-4 are formed, the cab signal source signal is connected with signal processing module 100-3 with ambient signal acquisition module 100-1, signal processing module 100-3 is connected with judging treatmenting module 100-4, inertial signal acquisition module 100-2 is connected with judging treatmenting module 100-4, judging treatmenting module 100-4 is connected with executive circuit 105, here also comprise safety turning Velocity Reference value setting module 100-4-1 among the judging treatmenting module 100-4, the user can set corresponding a reference value according to difference turning type by program in safety turning Velocity Reference value setting module 100-4-1.
When this 24-hour vehicle turning overspeed control device is installed, ambient light sensor 102-1 is installed in vehicular meter platform the place ahead near the acceptant road light-illuminating of Windshield place, the root top that the windscreen wiper synchro switch is installed in the windscreen wiper joystick also can be done in the windscreen wiper combined switch, surface gathered water sensor 103-1 is installed in top position in the rear tyre mudwing front portion, both sides, and electromagnet 105-3 is installed in Das Gaspedal bar top.Here need to prove surface gathered water sensor 103-1, when there are ponding, mud in the road surface, tyre rotation gets rid of ponding mud band to mudwing during vehicle ', measures that unnecessary water, mud, foreign material directly flow down the face that falls to falling down to the ground (filtration of first road) from panel when big.Another part ponding, mud because of run by gravity to surface gathered water sensor 103-1 side, big foreign material, unnecessary mud, water fall earthward (filtration of second road).After water, mud and the medium and small foreign material that an amount of needs filter pass through right-angled bend from the side, be adsorbed on the below of surface gathered water sensor 103-1, collecting under ater guide piece angle and water, mud self osmosis this moment, cross control stream intermittently, redundance be difficult to by, medium sized foreign material, unnecessary mud and water directly fall earthward (filtration of the 3rd road).The muddy water foreign material of crossing control stream part at intermittence flow to control and flow through filter disc tiltedly leading under the guiding of control stream plate, and in guided procedure, therefore medium and small foreign material and unnecessary mud, shipwreck fall earthward to be adsorbed on the plate face and the plate lower edge of tiltedly leading control stream plate.
This 24-hour vehicle turning overspeed control device mainly is the various states that can distinguish various weather conditions such as sleet mist day and night and current turn inside diameter, because the variation of various weather is all different to driver's sight line influence.
As shown in Figure 6, to wherein be divided into daytime daytime in the present embodiment, daytime little sleet, sleet in daytime, daytime, heavy rain was avenged, daytime thick fog, six kinds of state of weather of mist on daytime, be divided into country beam evening, passing light, the little sleet of country beam, sleet in the country beam, country beam heavy rain snow, the little sleet of passing light, sleet in the passing light, passing light heavy rain snow, night mist, night thick fog and street lighting at night 11 kinds of state of weather such as good and surface gathered water state, cab signal source signal and ambient signal acquisition module 100-1 obtain cab signal source signal and ambient signal during work, the cab signal source signal comprises passing light, country beam, adverse-weather lamp, fog tail lamp, windscreen wiper intermittently keeps off, windscreen wiper is middle-grade, the windscreen wiper top grade, signals such as car speed sensor, ambient signal comprise road street lighting strong and weak signals and surface gathered water signal.
For other signals except that the car speed sensor signal, it is stored in the memory device in the control center 100 for next step use, signal for car speed sensor, calculate the time gap t between impulse singla that this car speed sensor transmits and the impulse singla that last time, car speed sensor transmitted, under the situation of known tire circumference c, calculate the vehicle speed signal of current vehicle for next step use by the formula of formula v=c/t; Inertial signal acquisition module 100-2 obtains horizontal angle speed signal or lateral acceleration signal, again two signals and preceding ten result of a measurement is separately done mobile weighted mean and handles, and reaches the purpose of software filtering, to obtain relative pulsation-free numerical value.
For the following two kinds of schemes of having obtained of side direction inertial signal:
(1), the horizontal angle speed w and the vehicle speed signal v that angular velocity sensor are measured calculate lateral acceleration a according to formula a=w * v.
(2), acceleration pick-up is directly measured lateral acceleration a;
The passing light that signal processing module 100-3 at first obtains cab signal source signal and ambient signal acquisition module 100-1, country beam, adverse-weather lamp, fog tail lamp, windscreen wiper intermittently keeps off, windscreen wiper is middle-grade, the windscreen wiper top grade, ambient light signal and surface gathered water signal synthesis get up, and mark off the ponding road surface and run at high speed, thick fog, passing light heavy rain snow, sleet in the passing light, the little sleet of passing light, passing light, mist, country beam heavy rain snow, sleet in the country beam, the little sleet of country beam, country beam, daytime, heavy rain was avenged, sleet in daytime, night, street lighting was good, daytime little sleet, daytime etc. these weather and ambient condition.
If under the situation that occurs in these weather and the ambient condition satisfying simultaneously, then according in these states that satisfy to driver's sight line and curved excessively that a kind of weather that has the greatest impact of safety and ambient condition as result.
In this module of judging treatmenting module 100-4, program is at first according to weather that draws among the signal processing module 100-3 and ambient condition, access the predefined safety turning Velocity Reference value of the lateral acceleration a when vehicle turns to the left or to the right under this weather and the ambient condition respectively, when inertial sensor 104-1 used the lateral acceleration sensor directly to provide lateral acceleration signal, judging treatmenting module 100-4 compared lateral acceleration a and the predefined safety turning Velocity Reference value that obtains among the inertial signal acquisition module 100-2; Then the horizontal angle speed w that obtains in inertial signal acquisition module 100-2 of judging treatmenting module 100-4 multiply by speed of a motor vehicle v when inertial sensor 104-1 uses angular velocity sensor that the horizontal angle speed signal is provided, compare with predefined safety turning Velocity Reference value again after calculating lateral acceleration a value, if met or exceeded predefined safety turning Velocity Reference value, then be judged to be the hypervelocity of turning, control center 100 sends control signal to warning indicating circuit 107, crosses curved the deceleration at the very first time alarm and the executive circuit 105 execution vehicles of hypervelocity.
This 24-hour vehicle turning overspeed control device can be divided into five kinds of states when curved controlling in addition:
(1) if, this device automatic guidance back speed that slows down belongs in the normal safe range when vehicle exceeds the speed limit in the turning process, during promptly less than the safety turning Velocity Reference value set, remove immediately and slow down;
(2), when turn radius is longer than outer curve, it is also long to spend the curved time comparatively speaking, quickens again after slowing down for the first time, this device can carry out deceleration second time, until the safety turning Velocity Reference value of the speed of a motor vehicle less than setting;
(3), set the big speed of safety turning Velocity Reference value and cross when curved, this device is in deceleration regime always and just removes deceleration during less than the safety turning Velocity Reference value of setting until the speed of a motor vehicle to exceed;
(4), cross when curved ovdersteering and the speed of a motor vehicle just over safety turning Velocity Reference value limit value, will turn to correction after, remove immediately and slow down;
(5), cross understeer when bending, do not reach safety turning Velocity Reference value limit value this moment, but meet or exceed safety turning Velocity Reference value limit value after will turning to correction, perhaps do not reach safety turning Velocity Reference value limit value during normal turn, but be transformed into ovdersteering and reach safety turning Velocity Reference value limit value with identical speed normal turn, this device slows down immediately.
Should note at this, right-hand corner and turnon left control rate that this device is crossed when curved vehicle are different, because, traffic law and vehicle design, structure is determined, the driver can only be sitting in the left side or drive on the right, now be sitting in the left side for exemplifying the example explanation with the driver, the Windshield relative sight angle in limit of keeping right is bigger when bending to right, wider field of view, therefore crossing curved speed can be fast relatively, and it was both complicated greatly to the influence of sight line to turn left, because there is the A post to stop, especially sleety weather, night, road did not have under the lighting environment, this moment raindrop, snow is adsorbed on operator's saddle left side glass outer side, the dead angle that has Windshield left side windscreen wiper not scrape again, and the visual angle is very little when turning left, the sight line extreme difference, almost can't see clearly, abnormally dangerous, compare just very slow so cross curved speed.
The difference of left and right sides speed can be different to driver's sight line effect according to various weather conditions actual conditions, respectively correspondingly reasonably be provided with.Owing to differences such as various vehicle design, performance, structure and materials, the difference of predefined every safety turning Velocity Reference value and the control of left and right sides turning speed also is not quite similar in addition.
Embodiment two
Present embodiment is basic identical with structure and the principle of embodiment one, different place is: executive circuit 105 is to control throttle by the electronics mode, control center 100 sends a control signal on the engine control chip, thereby controls turning speed by the closure of engine control chip controls engine air throttle.
Specific embodiment described herein only is that spirit of the present invention is made casehistory.The technical personnel of the technical field of the invention can be made various modifications or replenishes or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although this paper has used 100, control center morely; 100-1, cab signal source signal and ambient signal acquisition module; 100-2, inertial signal acquisition module; 100-3, signal processing module; 100-4, judging treatmenting module; 101, photoelectricity coupled circuit; 102, surround lighting metering circuit; 102-1, ambient light sensor; 102-2, voltage comparator; 103, surface gathered water metering circuit; 103-1, surface gathered water sensor; 103-2, voltage comparator; 104, inertial signal metering circuit; 100-4-1, safety turning Velocity Reference value setting module; 104-1, inertial sensor; 104-2, A/D A and D converter; 105, executive circuit; 105-1, relay one; 105-2, relay two; 105-3, electromagnet; 106, tail-light; 107, warning indicating circuit; 107-1, indicator lamp; 107-2, buzzer phone; 108, term such as vehicle interior signal source, but do not get rid of the possibility of using other term.Using these terms only is in order to describe and explain essence of the present invention more easily; They are construed to any additional restriction all is contrary with spirit of the present invention.
Claims (10)
1. 24-hour vehicle turning overspeed control device, comprise control center (100) and the coupled power supply that is used to provide electric energy, it is characterized in that: the inertial signal metering circuit (104) that is passed to control center (100) after described control setup also comprises the inertial signal when being used for collection vehicle turns and converts electric signal to, described inertial signal metering circuit (104) is connected with above-mentioned control center (100), described control center (100) also is connected with vehicle interior signal source (108), described vehicle interior signal source (108) comprises vehicle light, the signal that wiper and car speed sensor produced, described control center (100) carries out producing control signal after the comprehensive analyses computing to the signal of above-mentioned inertial signal and vehicle interior signal source (108), and described control center (100) mouth connects and is used for the control signal of mission control center (100) and then the executive circuit (105) of control vehicle turning speed.
2. 24-hour vehicle turning overspeed control device according to claim 1, it is characterized in that: also be connected with the photoelectricity coupled circuit (101) that is used for the signal of vehicle interior signal source (108) is passed to control center (100) between described control center (100) and the vehicle interior signal source (108), described vehicle interior signal source (108) comprises that vehicle light, wiper and car speed sensor all are connected with photoelectricity coupled circuit (101).
3. 24-hour vehicle turning overspeed control device according to claim 1, it is characterized in that: described control center (100) also connects the surround lighting metering circuit (102) that is passed to control center (100) after being used to gather the surrounding environment optical signal and converting electric signal to, described surround lighting metering circuit (102) comprises interconnective ambient light sensor (102-1) and first voltage comparator (102-2), first voltage comparator (102-2) is connected with control center (100), described ambient light sensor (102-1) is gathered the current environment optical signal and is sent to after first voltage comparator (102-2) makes comparisons, and by first voltage comparator (102-2) comparative result is passed to control center (100).
4. 24-hour vehicle turning overspeed control device according to claim 1, it is characterized in that: the surface gathered water metering circuit (103) that is passed to control center (100) after described control center (100) also connects surface gathered water signal when being used for collection vehicle and travelling and converts electric signal to, described surface gathered water metering circuit (103) comprises interconnective surface gathered water sensor (103-1) and second voltage comparator (103-2), second voltage comparator (103-2) is connected with control center (100), described surface gathered water sensor (103-1) is gathered current surface gathered water signal and is sent to after second voltage comparator (103-2) makes comparisons, and by second voltage comparator (103-2) comparative result is passed to control center (100).
5. 24-hour vehicle turning overspeed control device according to claim 1, it is characterized in that: described inertial signal metering circuit (104) comprises interconnective inertial sensor (104-1) and A/D A and D converter (104-2), A/D A and D converter (104-2) is connected with control center (100), is passed to control center (100) after the horizontal angle speed of the current Ackermann steer angle of described inertial sensor (104-1) collection or lateral acceleration analog signal also convert digital signal to by A/D A and D converter (104-2).
6. 24-hour vehicle turning overspeed control device according to claim 1, it is characterized in that: described executive circuit (105) comprises relay one (105-1), relay two (105-2), electromagnet (105-3), tail-light (106) and BK Brake Switch are formed, the coil of relay one (105-1) is connected with control center (100), the coil of relay two (105-2) is connected with BK Brake Switch, the open contact one tunnel of relay one (105-1) connects tail-light (106), another road is connected with the normally closed contact of relay two (105-2), the normally closed contact of relay two (105-2) is connected with electromagnet (105-3), described control center (100) drives relay one (105-1) open contact closure, drawing and lifting the Das Gaspedal bar through the work of the normally closed contact electromagnet (105-3) of relay two (105-2) reduces throttle, thereby control vehicle turning speed, glancing impact relay two (105-2) and electromagnet (105-3) adhesive, relay two (105-2) normally closed contact disconnects, and electromagnet (105-3) quits work.
7. 24-hour vehicle turning overspeed control device according to claim 1, it is characterized in that: described executive circuit (105) is by electronics mode Throttle Opening Control, described control center (100) transmits control signal to the engine control chip, thereby by engine control chip controls engine air throttle control vehicle turning speed.
8. 24-hour vehicle turning overspeed control device according to claim 1, it is characterized in that: described control center (100) comprises and is used to obtain the cab signal source signal, the cab signal source signal of the electric signal of ambient light signal and surface gathered water signal and ambient signal acquisition module (100-1), be used to obtain the inertial signal acquisition module (100-2) of horizontal angle speed or lateral acceleration digital signal, signal processing module (100-3) and judging treatmenting module (100-4), the cab signal source signal is connected with signal processing module (100-3) with ambient signal acquisition module (100-1), signal processing module (100-3) is connected with judging treatmenting module (100-4), inertial signal acquisition module (100-2) is connected with judging treatmenting module (100-4), signal processing module (100-3) goes out different weather and ambient condition according to the cab signal source signal with the division of signal that ambient signal acquisition module (100-1) obtains, the inertial signal that weather that judging treatmenting module (100-4) draws according to signal processing module (100-3) and ambient condition and inertial signal acquisition module (100-2) obtain sends control signal to executive circuit (105) after the comprehensive treatment.
9. 24-hour vehicle turning overspeed control device according to claim 8, it is characterized in that: also comprise the safety turning Velocity Reference value setting module (100-4-1) that is used to set the safety turning Velocity Reference value that left and right vehicle wheel turns in judging treatmenting module (100-4), described safety turning Velocity Reference value setting module (100-4-1) is connected with signal processing module (100-3).
10. according to each described 24-hour vehicle turning overspeed control device of claim 1 to 9, it is characterized in that, also be connected with warning indicating circuit (107) in the described control center (100), the buzzer phone (107-2) that described warning indicating circuit (107) comprises the indicator lamp that is used to show the turning overspeed condition (107-1) that all is connected with control center (100) and is used to carry out the audible alarm prompting.
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| CN103217926B (en) * | 2012-01-20 | 2015-08-19 | 苏州宝时得电动工具有限公司 | Automatic operation equipment and control method thereof |
| CN105911989B (en) * | 2016-04-28 | 2021-08-13 | 财团法人车辆研究测试中心 | Decision-making system and method for combined type automatic auxiliary driving |
| CN106564374B (en) * | 2016-10-20 | 2020-11-13 | 深圳市元征科技股份有限公司 | Vehicle speed control method and device |
| CN112937573A (en) * | 2019-12-10 | 2021-06-11 | 华为技术有限公司 | Method, device and system for determining safe speed |
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| CN1423602A (en) * | 2000-04-14 | 2003-06-11 | 斯皮罗斯·韦齐斯 | Device for warning a driver of a motor vehicle of excessive curve steering speed |
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| CN1423602A (en) * | 2000-04-14 | 2003-06-11 | 斯皮罗斯·韦齐斯 | Device for warning a driver of a motor vehicle of excessive curve steering speed |
| CN1749758A (en) * | 2005-09-29 | 2006-03-22 | 齐荣怀 | Four freedom acceleration and angular velocity vehicle navigation signal generator |
| CN101028798A (en) * | 2006-03-02 | 2007-09-05 | 日产自动车株式会社 | Vehicle travel controlling apparatus |
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