CN104960466B - A kind of automobile turning safety assisting system - Google Patents

Abstract

The invention relates to an automobile turning safety auxiliary system, comprising a vehicle-mounted computer control module and an angle sensing module connected thereto, a longitudinal distance measuring sensing module, a vehicle speed sensing module, an automobile power module, an automobile braking module and an audible and visual warning module The on-board computer control module obtains the car's own turning status and surrounding situation information in real time, and then calculates and predicts the car's driving route and the information of the closest pedestrian or object around it to determine whether the car will collide with pedestrians or other objects and the degree of danger ; If there is a risk of collision, immediately and automatically take safety measures such as interruption of vehicle power and emergency brakes, and send warning signals such as sound and light to drivers and pedestrians to ensure the safety of personnel, vehicles and surrounding areas. The system can be installed on various vehicles powered by internal combustion engines, and can also be applied to various electric vehicles and various construction machinery. It has wide application prospects, good real-time performance, easy implementation, low installation cost, and easy promotion.

Description

A car cornering safety assist system

technical field

The invention relates to the field of automobile safety, in particular to an automobile turning safety auxiliary system.

Background technique

Cars have become an important means of transportation for people to travel, and it is growing every year. However, its safety has become a problem that we have to pay attention to and consider, especially when the car is turning, the existence of the difference between the inner and outer wheels makes people or things that are originally a distance from the car may be scraped by the middle and rear of the car or even be caught. Rolling, especially on large vehicles with large wheelbases, such as buses, etc., when they turn, the rear wheels move farther inward and are more dangerous.

During the peak hours of commuting every day, due to the abnormally large flow of people and various vehicles, everyone is rushing to work or go to school on time, or go home early. Wait, often before the red light turns into a green light, someone starts to move forward, completely ignoring or disregarding the danger of a car that is preparing to turn, especially a right turn. At this time, the car that had finally waited for a green light also rushed forward eagerly. If the driver's lack of concentration or other reasons cause him to misjudgment and continue to turn at a faster speed, it is very likely that vicious traffic accidents such as vehicle bumping into people, bumping into people, or even crushing pedestrians will occur.

At present, no cars have been found equipped with Cornering Safety Assist. The automobile turning safety auxiliary system of the present invention is a kind of automobile safety system specially developed in order to improve and solve the hidden danger of automobile turning safety. The system installs on-board computer, angle sensor, ranging sensor and vehicle speed sensor on the car. After obtaining the information of the car's own turning state and its surrounding conditions in real time, it calculates and predicts the car's driving route and the closest distance around it. With the help of its The on-board control computer can judge whether the car will collide with passers-by or other objects and the degree of danger at any time. If a collision risk is found, safety measures such as interruption of vehicle power and emergency brakes will be automatically taken immediately, and at the same time, warning signals such as sound and light will be sent to drivers and passers-by to ensure the safety of personnel, vehicles and surrounding areas.

Contents of the invention

In view of this, the object of the present invention is to provide a car turning safety assist system. When the vehicle is turning, the system finds that the car may collide with passers-by or objects in a high-risk state, and immediately and automatically take the power off the car and emergency braking in real time. At the same time, it can automatically send warning signals such as sound and light to drivers and passers-by to ensure the safety of personnel, cars and surrounding areas. The invention can also be applied to various walking construction machinery such as loaders, excavators, road rollers, bulldozers, cranes, and forklifts.

The present invention adopts the following schemes to realize: an automobile turning safety auxiliary system, comprising a vehicle-mounted computer control module and an angle sensing module connected to it, a longitudinal ranging sensing module, a vehicle speed sensing module, an automobile power module, an automobile brake module and sound and light warning module; the angle sensing module includes a plurality of angle sensors used to measure the steering angle of the car and a collection card connected with it; the longitudinal distance sensing module includes a plurality of distance sensors and The gathering card that connects; Described vehicle speed sensing module comprises a plurality of vehicle speed sensors in order to measure the size of automobile speed and the gathering card connected with it; Described ranging sensor, angle sensor and vehicle speed sensor and the input end of the gathering card that are all connected with it Connected, in order to input the collected signal to the acquisition card for A/D conversion, the output end of the acquisition card is connected with the vehicle computer control module, and the signal after A/D conversion is input to the The vehicle-mounted computer control module; the vehicle-mounted computer control module judges whether the vehicle will collide with the nearest passer-by and object from the vehicle body according to the distance information, angle information and vehicle speed information received in real time, and if so, controls the vehicle power module and vehicle braking The module realizes vehicle deceleration and emergency braking, and controls the sound and light warning module to issue an alarm.

Further, the angle sensor is used to measure the rotation angle of the steering wheel (automobile steering column) or the steering wheel of the automobile to detect and obtain the steering angle of the automobile; the angle sensor system is also used to measure the The corner size of the ranging sensor in the sensing module.

Further, at least one distance-measuring sensor in the longitudinal distance-measuring sensing module together with a drive motor connected to it can be arranged on the left and right rearview mirror handles of the front of the car or other protrusions on the front of the car, and can also be arranged on the front of the car. On the protruding objects on both sides of the tail; the drive motor (or other power device) drives the distance measuring sensor connected to it to swing horizontally around its own vertical axis to detect the pedestrians and objects closest to the left and right of the vehicle body, and obtain the distance between the vehicle body and The distance between the pedestrian and the object. In order to ensure reliable longitudinal distance measurement, the sensor on the turning side will be controlled by the system computer to drive its power unit to drive it to turn a corresponding angle (make the sensor face the pedestrian or object) according to the degree of turning, and according to the size of the angle and the According to the longitudinal distance between the sensor and the object, the lateral distance between the nearest pedestrian, object and the car body is calculated.

Further, it also includes a lateral distance measuring sensor module connected with the on-board computer control module, the lateral distance measuring sensor module includes a plurality of distance measuring sensors and acquisition cards connected thereto, and the distance measuring sensors are arranged on Both sides of the car are used to detect the pedestrians and objects closest to the vehicle body in the lateral distance, and obtain the lateral distance between the vehicle body and the pedestrians and objects. The lateral distance-measuring sensor module is an auxiliary module for improving detection reliability, and the working condition of the system will not be affected if the lateral distance-measuring sensor module is not provided.

Further, the ranging sensor includes a ranging radar sensor, a laser ranging sensor, an infrared ranging sensor, an ultrasonic ranging sensor and a visual sensor.

Further, the vehicle speed sensor obtains the vehicle speed by detecting the output shaft of the vehicle engine (drive motor), or any shaft of the transmission, or the rotation speed of the vehicle drive shaft (drive wheel) or the vehicle driven wheel.

Further, the vehicle power module realizes vehicle deceleration and emergency braking by changing the driving force of the vehicle and interrupting the driving force. The driving force can be an internal combustion engine or other forms of power such as an electric motor. The vehicle deceleration and Emergency braking specifically includes the following methods: adjusting the engine throttle angle, or adjusting the fuel injection volume (air injection volume), or adjusting the ignition timing, or interrupting the ignition, or adjusting the motor drive current, or adjusting the speed ratio of the transmission, or Let the clutch disengage immediately, or put the car in neutral. The vehicle braking module realizes vehicle deceleration and emergency braking by changing the braking force and braking speed of the vehicle, and the braking power includes pressurized oil, compressed air or electric power.

Further, the sound and light alarm device includes an LED light and a speaker. When an alarm occurs, the LED light flashes to remind drivers and pedestrians, and the speaker sends out an alarm to remind drivers and pedestrians.

Further, it also includes a display screen, a storage module and a wireless network (or cellular phone) sending and receiving module connected to the vehicle computer control module, the display screen is set in the car dashboard to display the Describe the judging process and judging results of the vehicle-mounted computer control module and images of pedestrians and objects outside the vehicle; the storage module is a hard disk for storing the judging process and judgment results of the vehicle-mounted computer control module; the wireless network sending and receiving module It is used to automatically send story information to car owners and traffic management departments in the event of turning traffic accidents (such as when the vehicle power system or braking system fails to adjust).

In particular, the vehicle-mounted computer control module in the vehicle turning safety assistance system includes hardware parts and intelligent control programs. Or the distance between the object and the front or rear of the vehicle and the vehicle body and the corresponding vehicle speed information, after calculation and analysis, it can automatically judge whether the pedestrian or object will collide with the car. When the turning safety assist system judges that the car may hit passers-by or objects when it is walking along the expected turning path at the original speed, it will immediately slow down and send various warning signals in real time through the sound and light devices installed inside and outside the car. Pass it to drivers and pedestrians; when the safety assistance system judges that when the car is walking along the expected turning path at the original speed, a collision or crushing of passers-by or objects will definitely occur, it will immediately interrupt the power of the car and emergency braking to ensure To ensure the safety of cars and pedestrians, various warning signals are sent to drivers and pedestrians in real time through the sound and light devices installed inside and outside the car.

Among them, the vehicle turning safety assist system mainly automatically drives the longitudinal distance sensor motors or other power devices located on both sides of the front (or rear) of the vehicle according to the degree of turning and the speed of the vehicle, and the pre-rules and control software in the on-board computer. The sensor rotates around its vertical axis through a certain angle, and uses the distance signal between it and pedestrians or objects and the size of its rotation angle obtained by the longitudinal ranging sensor to automatically calculate and judge whether pedestrians or objects will collide with cars or the probability; at the same time, The lateral distance between pedestrians or objects and the vehicle obtained by the ranging sensor in the lateral ranging sensor module installed on the side of the car is used as supplementary information (optional) to ensure that the signal is more accurate and reliable.

Compared with the prior art, the present invention has the following advantages:

1) The turning safety assistance system can use the information on the turning of the car and the distance of passers-by obtained by the system to pre-judge whether the car will collide and its probability.

2) The on-board computer control system of the turning safety assist system can intelligently intervene in the vehicle power and braking system in real time when it is judged that a collision is likely to occur, so that the power of the vehicle is immediately interrupted and braked urgently, or the power is reduced to slow down the vehicle, etc. , to automatically avoid traffic accidents.

Description of drawings

Fig. 1 is a schematic block diagram of the system of the present invention.

Fig. 2 is a schematic diagram of the installation position of the system in the vehicle according to the present invention.

Fig. 3 is a map of the driving route predicted by the steering characteristics of the vehicle in the embodiment of the present invention.

Reference numerals: 1 is the ranging sensor in the longitudinal ranging sensor module, 2 is the ranging sensor in the lateral ranging sensing module, 3 is the vehicle-mounted computer control module of the system, the display screen and its interior Remind the place where the acousto-optic warning module is installed, 4 is the acousto-optic warning module for reminding pedestrians on the outside of the vehicle, and 5 is the vehicle power module and vehicle brake module.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The present embodiment provides a vehicle turning safety assist system, as shown in Figure 1 and Figure 2, comprising a vehicle-mounted computer control module 3 and an angle sensing module connected thereto, a longitudinal ranging sensing module, a vehicle speed sensing module, An automobile power module, an automobile braking module and an audible and visual warning module; the angle sensing module includes a plurality of angle sensors for measuring the steering angle of the automobile and the size of the longitudinal distance sensor corner and an acquisition card connected thereto; the longitudinal measuring The distance sensing module includes a plurality of distance measuring sensors and the acquisition card connected with it; the vehicle speed sensing module includes a plurality of vehicle speed sensors for measuring the speed of the vehicle and the acquisition card connected with it; the distance measurement sensor, angle sensor and The vehicle speed sensor is connected with the input end of the acquisition card connected with it, in order to input the signal collected to the acquisition card for A/D conversion, and the output end of the acquisition card is connected with the vehicle-mounted computer control module, and the The A/D converted signal is input to the on-board computer control module; the on-board computer control module judges whether the car will collide with the nearest passerby and object from the vehicle body according to the distance information, angle information and vehicle speed information received in real time, If so, control the vehicle power module and vehicle braking module to realize vehicle deceleration and emergency braking, and control the sound and light warning module to issue an alarm;

In this embodiment, the angle sensor is used to detect the angle of the steering wheel, the steering column or the steering wheel of the automobile to detect and obtain the steering angle of the automobile; the angle sensor system is also used to measure the angle of the longitudinal distance sensor The corner size of the ranging sensor in the module.

In this embodiment, at least one ranging sensor 1 and its power unit in the longitudinal ranging sensor module are installed on the handles of the left and right rearview mirrors of the car (or the protrusions on both sides of the front of the car), or on the two sides of the rear of the car. On the protruding object on the side, it is used to detect the distance between the passerby or object closest to the vehicle body and the distance between the vehicle body and the passerby and object in combination with the obtained sensor rotation angle; The ranging sensors are arranged on both sides of the car to detect passers-by and objects with the shortest lateral distance from the vehicle body, and supplementary acquisition of the distance between the vehicle body and the passers-by and objects. Preferably, the distance measuring sensor in the longitudinal distance measuring sensing module can rotate an angle around the vertical axis correspondingly with the turning degree and driving speed of the car, and will detect and acquire the closest pedestrian or object with the car. The distance of the sensor.

In this embodiment, it also includes a lateral distance measuring sensor module connected with the on-board computer control module, the lateral distance measuring sensor module includes a plurality of distance measuring sensors and acquisition cards connected thereto, the distance measuring The sensors 2 are arranged on both sides of the car, and are used to detect the pedestrians and objects with the shortest lateral distance from the vehicle body, and obtain the lateral distance between the vehicle body and the pedestrians and objects. The lateral distance-measuring sensor module is an auxiliary module for improving detection reliability, and the working condition of the system will not be affected if the lateral distance-measuring sensor module is not provided.

In this embodiment, the ranging sensor includes a ranging radar sensor, a laser ranging sensor, an infrared ranging sensor, an ultrasonic ranging sensor and a visual sensor.

In this embodiment, the vehicle speed sensor is used to detect the rotation speed of the vehicle engine (drive motor), a certain shaft of the transmission, the drive shaft (drive wheel) or the driven wheel of the vehicle to obtain the speed of the vehicle.

In this embodiment, the vehicle power module 5 realizes the deceleration of the vehicle by changing the driving force of the vehicle and interrupting the driving force. The driving force can be an internal combustion engine or other forms of power such as an electric motor. Or interrupt the power specifically to adjust the throttle angle of the engine, or adjust the fuel injection volume (air injection volume), or adjust the ignition timing, or interrupt the ignition, or adjust the motor drive current, or adjust the transmission speed ratio, or let the clutch disengage immediately Working state, or let the car be in neutral state; the car braking module 5 realizes car deceleration and emergency braking by changing the braking force and braking speed of the car, and the braking power includes pressure oil, compressed air or electricity.

In this embodiment, the sound and light alarm device 4 includes an LED light and a speaker. When an alarm occurs, the LED light flashes to remind drivers and pedestrians, and the speaker emits an alarm to remind drivers and pedestrians.

In this embodiment, it also includes a display screen connected to the on-board computer control module, and the display screen is set in the vehicle dashboard to display the judgment process and judgment result of the on-board computer control module.

In this embodiment, it also includes a storage module connected to the vehicle computer control module, the storage module is a hard disk, used to store the judgment process and judgment results of the vehicle computer control module, which is convenient for the driver to use and manage in the future .

In this embodiment, it also includes a sending and receiving module of a wireless network (or cellular phone) connected to the vehicle computer control module, which is used for turning traffic accidents (such as when the vehicle power system or braking system regulation fails), automatically Send relevant information, signals, etc. to car owners, traffic management departments (traffic police), etc.

In this embodiment, the vehicle-mounted computer control module in the vehicle turning safety assistance system includes a hardware part and an intelligent control program. Turning, the distance between pedestrians or objects and the ranging sensors installed on the front or rear of the vehicle, the size of the corner of the ranging sensor, the distance between pedestrians or objects and the ranging sensors installed on both sides of the car (optional), and the corresponding vehicle speed information, After calculation and analysis, it can automatically judge whether the pedestrian or object is likely to collide with the car. When the turning safety assist system judges that the car may hit passers-by or objects when it is walking along the expected turning path at the original speed, it will immediately slow down and send various warning signals in real time through the sound and light devices installed inside and outside the car. Pass it to drivers and pedestrians; when the safety assistance system judges that when the car is walking along the expected turning path at the original speed, a collision or crushing of passers-by or objects will definitely occur, it will immediately interrupt the power of the car and emergency braking to ensure To ensure the safety of cars and pedestrians, various warning signals are sent to drivers and pedestrians in real time through the sound and light devices installed inside and outside the car.

Preferably, the vehicle turning safety assist system mainly automatically drives the longitudinal distance sensor motors or other powers located on both sides of the front (or rear) of the vehicle based on the on-board computer control module according to the pre-rules and the degree of turning and the speed of the vehicle. The device makes the sensor rotate around its vertical axis through a certain angle, and the distance signal to pedestrians or objects obtained by the longitudinal distance measuring sensor and the size of its rotation angle are automatically calculated and judged by the size of the rotation angle and the measured distance. Collision with the car or the possibility of collision; at this time, the lateral distance between the pedestrian or object and the car obtained by the distance sensor in the lateral distance sensor module on the side of the car is used as supplementary information to ensure that the signal is accurate and reliable. The controls are flawless.

In this embodiment, as shown in Figure 3, when the size of the corner of the car is known, the schematic diagram of calculating the inner wheel difference of the front and rear wheels in the turning process of the car, when the wheelbase L, wheelbase B and car corner δ of the car are known, The calculation formula of the relevant parameters is as follows: turning radius: R=L/δ; turning radius of the inner wheel of the front wheel: R1=(R-B/2)/cosα;

The turning radius of the inner wheel of the rear wheel: R2=R-B/2; the inward movement distance of the rear wheel when turning: △R=R1-R2; in order to predict the driving trajectory of the car at different corners, and combine it with the detected things around the car, through The on-board computer control module calculates and predicts the possibility and degree of danger of whether the car will collide with passers-by or other objects.

When the on-board computer control module calculates and judges to obtain the above data, the display screen displays the surrounding environment of the car and the turning track of the car, and the driver can intuitively see the turning track of the car and the detected surrounding pedestrians or Whether the object has a cross point, if there is a cross point to indicate that there is a possibility of collision, the vehicle-mounted computer control module will control the sound and light alarm module to remind the driver and pedestrians through the flashing of the LED light, and remind the driver and pedestrians through the loudspeaker alarm; When the distance to pedestrians or objects is too close, the on-board computer control module not only controls the reminder device, but also directly intervenes in the driver's operation, and controls the power system to automatically disconnect power and emergency brake in time to ensure the safety of personnel and vehicles.

The above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention. The present invention can also be directly applied to various walking construction machines such as loaders, excavators, road rollers, bulldozers, cranes, forklifts, and these applications also belong to the scope of the present invention.

Claims (8)

1. An automobile turning safety assist system is characterized in that: it comprises a vehicle-mounted computer control module and an angle sensing module connected to it, a longitudinal ranging sensing module, a vehicle speed sensing module, an automobile power module, an automobile system A moving module and an audible and visual warning module; the angle sensing module includes a plurality of angle sensors used to measure the steering angle of the car and an acquisition card connected to it; the longitudinal distance sensing module includes a plurality of distance measuring sensors and Acquisition card; the vehicle speed sensor module includes a plurality of vehicle speed sensors used to measure the speed of the vehicle and the acquisition card connected with it; the distance measuring sensor, angle sensor and vehicle speed sensor are connected to the input of the acquisition card connected , in order to input the collected signal to the acquisition card for A/D conversion, the output end of the acquisition card is connected with the vehicle computer control module, and the A/D converted signal is input to the vehicle Computer control module; the on-board computer control module judges whether the car will collide with the nearest passerby and object from the vehicle body according to the distance information, angle information and vehicle speed information received in real time, and if so, controls the vehicle power module and the vehicle braking module Realize vehicle deceleration and emergency braking, and control the sound and light warning module to issue warnings; At least one distance-measuring sensor in the longitudinal distance-measuring sensor module and a drive motor connected to it are jointly arranged on the left and right rearview mirror handles of the front of the car and the protrusions on both sides of the tail of the car. The connected ranging sensor swings horizontally around its own vertical axis to detect pedestrians and objects closest to the left and right of the vehicle body, and obtain the distance between the vehicle body and the pedestrians and objects; It also includes a lateral distance-measuring sensor module connected with the vehicle-mounted computer control module, the lateral distance-measurement sensor module includes a plurality of distance-measuring sensors and acquisition cards connected thereto, and the distance-measuring sensor is arranged on the vehicle The two sides are used to detect pedestrians and objects closest to the lateral distance from the vehicle body, and obtain the lateral distance between the vehicle body and the pedestrians and objects. 2. A kind of automobile turning safety auxiliary system according to claim 1, characterized in that: the angle sensor is used to measure the rotation angle of the automobile steering wheel or the automobile steering wheel, detect and obtain the size of the automobile steering angle; The angle sensor system is also used to measure the rotation angle of the distance measuring sensor in the longitudinal distance measuring sensor module. 3 . The vehicle turning safety assist system according to claim 1 , wherein the ranging sensor includes a ranging radar sensor, a laser ranging sensor, an infrared ranging sensor, an ultrasonic ranging sensor and a visual sensor. 4 . 4. A vehicle turning safety assist system according to claim 1, wherein the vehicle speed sensor obtains the vehicle speed by detecting the rotational speed of the vehicle engine, a certain shaft of the transmission, the drive shaft or the driven wheel of the vehicle. 5. A vehicle turning safety assist system according to claim 1, characterized in that: the vehicle power module realizes vehicle deceleration and emergency braking by changing the driving force of the vehicle and interrupting the driving force, specifically comprising the following methods: : Adjust the throttle angle of the engine, adjust the fuel injection volume, adjust the ignition timing, interrupt the ignition, adjust the motor drive current, adjust the transmission speed ratio, immediately disengage the clutch from the working state or put the car in neutral. 6. A vehicle turning safety assist system according to claim 1, characterized in that: the vehicle braking module realizes vehicle deceleration and emergency braking by changing the braking force and braking speed of the vehicle, and the braking Power includes pressurized oil, compressed air or electricity. 7. A vehicle turning safety assist system according to claim 1, wherein the sound and light alarm module includes an LED light and a speaker, and when the sound and light alarm module issues a warning, the LED light flashes to remind Drivers and pedestrians, the speaker sounds an alarm to remind drivers and pedestrians. 8. A kind of automobile turning safety assisting system according to claim 1, characterized in that: it also includes a display screen connected to the vehicle-mounted computer control module, a storage module and a wireless network sending and receiving module, the The display screen is arranged in the automobile instrument panel to display the judgment process and judgment result of the vehicle-mounted computer control module and images of pedestrians and objects outside the vehicle; the storage module is a hard disk for storing the judgment of the vehicle-mounted computer control module Process and judgment results; the wireless network sending and receiving module is used to automatically send story information to car owners and traffic management departments when turning traffic accidents occur.