Method and device for prevention of collisions of automobiles

FIELD: methods of preventions of auto collisions by means of usage of optical radiation.

SUBSTANCE: optical radiations from automobiles, being at favorable and oncoming lines of traffic, are received simultaneously and transformed into electric signals. Then distances to transportation vehicles, being at favorable and oncoming traffic lines, are measured as well as approach speed and geometrical sizes of transportation vehicle in direction of movement. On base of received information, safety distance of motion is provided in relation to transportation vehicle being on favorable line of motion and decision on ability of overtaking is made. Device has two electro-optic converters, calculator with unit for measuring speed of approach speed with transportation vehicles and logic unit, as well as transportation vehicles' geometrical sizes input switch, which transportation vehicle moves in favorable direction, and four light indicators.

EFFECT: safety of overtaking maneuvers.

11 cl, 7 dwg

 

The invention relates to the automation systems using the self-radiation of objects and can be used to create equipment that serves to prevent collisions and collisions of cars and other vehicles.

There is a method for preventing collision of the vehicle, based on the reception of optical radiation of objects in a hazardous area, converting it into electrical signals, determining a distance D0to the obstacle, compared with the maximum allowable distance DSSthat is determined based on speed, and generation of a warning signal or a command for braking in the case of D0≤DSSand the received optical radiation filter, suppressing range with wavelengths of less than 3 μm, the reception and conversion of lead separately for n plots located one behind the other in a hazardous area, and the transform coefficients are chosen so that in the absence of obstacles, the signals from all stations are the same, the difference of the electrical signals from surrounding areas is judged on the presence of obstacles in these areas, all areas with detected obstacles is chosen near to the vehicle and the distance to take him as a distance D0/1/.

In the device for preventing collision of the vehicle, steriade the opto-electronic Converter, includes optical focusing element, an optical filter that suppresses radiation with wavelengths of less than 3 μm, n sensing elements and the hood, the insulation covering the optoelectronic Converter from all directions, except the direction of reception, n additional resistances connected respectively with n sensors, switch the locator device connected in series across the first input of the block definition for a dangerous distance from the generator alarm, comprising a generator of sound signals, the schema OR speaker, and the second input of the microprocessor is connected with the speed sensor, n additional resistances connected respectively with n-sensitive elements, in parallel connected by their free ends to one output of the power source to the other output of which is connected parallel free ends of the additional resistances, and n-1 differential amplifiers, the first input of the 1st and second input of the (n-1)-th of which are connected respectively to the common points of the first and n sensing elements and additional resistances, the second inputs of the odd-numbered differential amplifiers, excluding the (n-1)-th, and the first inputs of the even-numbered pairs connected respectively to a common point such as the even-numbered sensing elements and additional resistances, the second input is s even and the first the odd inputs of the amplifiers, except for 1, are pairwise connected to a common point such as the odd-numbered sensing elements and additional resistances, and the outputs of the differential amplifiers are connected to the corresponding inputs of the switch is the determinant of the coordinates, with one of the sensing elements is located in the focus of the optical element, and the rest are placed one above the other above focus /1/.

The disadvantage of this method and this device is the lack of information about the allowed distance movement relative to the vehicle moving along the strip passing traffic, and also the absence of information to the driver about the possibility of his passing in the presence of a vehicle on the opposite lane.

The aim of the invention is to extend the functionality of the method and device by issuing information not only about the dangerous distance to obstacles, and the allowable distance of movement of the vehicle with the vehicle on the way of passing traffic and the possibility of car overtaking maneuver in terms of location of the vehicle on the opposite lane.

This is achieved in that in the method of preventing collision of the vehicle, namely, that receive optical radiation of objects in a hazardous area, and converts them to electric is a mini signals, filter, suppressing signals in the range with wavelengths of less than 3 μm, reception and conversion is carried out for n plots located one behind the other in a hazardous area, identifying obstacles are carried out by the difference of the electrical signals from neighbouring plots, all plots with the detected obstacle is chosen near to the vehicle, determine the distance D0to this obstacle, compare it with the maximum allowable distance DSSthat is determined based on speed, and produce a warning signal or command to the deceleration in the case of D0≤DSSadditionally simultaneously receive optical radiation from vehicles passing and oncoming lanes, convert them into electrical signals, determine the distance to vehicles passing and oncoming lanes, determine the speed of convergence with them, determine the geometrical dimensions of the vehicle in the direction of movement and on the basis of this information, provide recommendations to the driver of the car about keeping a safe distance movement relative to the vehicle in the passing lane and complete overtaking maneuver it in terms of vehicle location on the strip UGT is echnolo movement.

In addition, provide information to the driver of the vehicle on a safe distance relative to the vehicle in the passing lane on the basis of compliance with the inequalitywhere D1- distance to the vehicle in the lane passing motion, V1 CBL- the rate of convergence with him, tTormthe time of braking of the vehicle, provide information to the driver of the vehicle on invalid distance approximation subject to the inequality

In addition, provide information to the driver about the possibility of making overtaking a vehicle on the strip passing motion, subject to the availability of the vehicle on the opposite lane on the basis of the condition that the inequalitywhere D3distance traveled by car to the middle of the lane of oncoming traffic when making overtaking maneuver, L is the geometrical dimensions of the vehicle in the direction of movement of the associated strip car, V3- the speed of the vehicle when making overtaking, VSBL- the speed of convergence toward the oncoming vehicle, D2- the distance to an oncoming car, give information to the driver drive the La about the impossibility of overtaking another vehicle proceeding from the condition that the inequality

The method is implemented in the device for preventing collision of a motor vehicle comprising a first opto-electronic Converter that includes a first optical focusing element, the n first sensing elements, the first lens, the first optical filter, a first n additional resistances, n-1 of the first differential amplifier, the first switch is a determinant of the coordinate definition block dangerous distances, generator, alarm, and n first additional resistances connected respectively with the n first sensors, some conclusions which are in parallel connected to a single power supply output to another output of which is connected conclusions incremental impedance, the first input of the first and second input (n-1)-th differential amplifiers are connected respectively with the big points of the first and the n first sensing elements and additional resistances, the second outputs of the odd-numbered differential amplifiers, in addition to (n-1)-th and the first inputs of the even-numbered pairs are connected respectively to the common points of the same name even sensitive elements and additional resistances, the second inputs of the even and the first odd inputs of differential amplifiers, except the first, are pairwise connected to the common connection points of the eponymous sensitive elements and the incremental resistance the lines, the outputs of differential amplifiers connected to respective inputs of the first switch is the determinant of the coordinates, the output of which is connected through the first input unit definition of hazardous distances with the generator input of the alarm signal and the second input unit definition of hazardous distances connected to the output of the speed sensor of the vehicle, the device additionally introduced the second opto-electronic transducer, the transmitter, the switch information input geometrical sizes of vehicles travelling along the strip of associated movements, the first, second, third and fourth light detectors, the outputs of the first and second optoelectronic transducers are connected respectively with the first and second inputs of the transmitter, the third an input connected to the speed sensor, the fourth n group of inputs from the switch information input geometrical sizes of vehicles travelling along the strip passing traffic, and the first, second, third and fourth outputs - inputs, respectively, first, second, third, and fourth light detectors.

The second opto-electronic transducer comprises a second optical focusing element, n the second sensing elements, the second lens, the second optical filter, n second incremental resistance is of tyuleniy, n-1 second differential amplifier, the second switch is the determinant of the coordinates, and n second additional resistances connected respectively with n sensors, some conclusions which are in parallel connected to a single power supply output to another output of which is connected conclusions incremental impedance, the first input of the first and the second input of the (n-1)-th second differential amplifiers are connected respectively with the big points of the first and n-th sensing elements and additional resistances, the second outputs of the odd-numbered differential amplifiers, in addition to (n-1)-th and the first inputs of the even-numbered pairs are connected respectively with common points of the same name even sensitive elements and additional resistances, the second inputs of the even and the first odd inputs of differential amplifiers, except the first, are pairwise connected to the common connection points of the eponymous sensitive elements and additional resistances, the outputs of differential amplifiers connected to respective inputs of the switch is the determinant of the coordinates, with one of the sensing elements is located in the focus of the optical focusing element, and the rest are located one above the other above the focus.

The transmitter consists of determining the speed of approaching vehicles and the block l is the geeks, moreover, the output of the first opto-electronic transducer is connected both to the first input unit determine the speed of approaching vehicles and the first input of the logic block, the second input with the first input unit determine the speed of approaching vehicles and the fourth input of the logic block, the output block determine the speed of approaching vehicles is connected with the second and third inputs of the logic block, a fifth input connected to the output of the vehicle speed sensor, the sixth group of inputs is connected to the output of the switch information input geometric dimensions of the vehicle in the direction of associated movements, the first, second, third and fourth outputs of the block logic connected respectively to the first, second, third and fourth light detectors.

Block determine the speed of approaching vehicles consists of determining the speed of convergence with the vehicle moving along the strip passing traffic, and block determine the speed of convergence with the vehicle moving in the opposite lane, and the output of the first opto-electronic Converter connected to the input unit determine the speed of convergence with the vehicle moving along the strip passing motion, first the output of which is connected with the second input of the logic block, and the second output to the second input unit determine the speed of convergence with the vehicle moving in the opposite lane, the first input connected to the output of the second opto-electronic Converter, and the outputs of the blocks determine the speed of convergence of the vehicles moving on the strip passing and oncoming traffic, are connected respectively with the second and third inputs of the logic block.

When this block determine the speed of convergence with the vehicle moving along the strip passing movement, is composed of the first shift register, the first element AND NOT the first, second and third element, And the pulse generator, the first element AND NOT the first, second and third elements And the first counter, the first vicites and the first divider, and the output of the first opto-electronic Converter connected simultaneously with the second inputs of the first and second elements And the input of the first shift register, the first output of which is connected with the first inputs of the first and third elements And the second output - with the first input of the second element And the input element AND IS NOT, the output of which is connected to a second input of the third element, And a third input connected to the pulse generator and the output to the input of the first counter, the outputs of the first and second elements And are connected to appropriate estwenno with the first and the second input of the first myCitadel, the output of which is connected to the first input of the first divider, a second input connected to the output of the first counter, the output of the first divider is the output of the block determine the speed of convergence with the vehicle moving along the strip passing traffic.

Block determine the speed of convergence with the vehicle moving in the opposite lane, consists of the second shift register, the second element AND the fourth, fifth, and sixth elements And a second counter, the second myCitadel, the second divider, and the output of the second opto-electronic transducer is connected both to the second inputs of the fourth and fifth elements And with the input of the second shift register, the first output of which is connected with the first inputs of the fourth and sixth elements And the second output of the second shift register connected to the first input of the fifth element And the input of the second element AND IS NOT, exit which is connected to a second input of the sixth element, And a third input connected to the output of the pulse generator, the outputs of the fourth and fifth elements And are connected respectively with the first and second inputs of the second myCitadel, the output of which is connected with the second input of the second divider, the first input connected to the output of the counter, an input connected to the output of the sixth element And vykhodtseva divider is the output of the block determine the speed of the approaching vehicle, moving on to the oncoming traffic.

The logic block consists of the third, fourth and fifth factors, first and second threshold devices, first, second, third and fourth control devices, third, fourth elements AND IS NOT, first, second and third adders, multiplier, functional Converter, the first and second Quad, item, OR n keys, and the output of the first opto-electronic Converter connected to the first input of the divider, a second input connected to the first output unit determine the speed of convergence, and the output of the third divider connected to the first input of the first threshold device, a second input connected to the output the first unit, and the output of the first threshold devices simultaneously connected via the third element AND NOT to the input of the first light detector and the input of the second light detector, the second output unit determine the speed of convergence connected to the first input of the fifth divider, a second input connected to the output of the second opto-electronic transducer, and the output connected to the second input of the second threshold device, the first input connected to the output of the fourth divider, the first input connected to the output of the fourth divider, the first input connected to the output of the first su is matora, a second input connected to the output of the second unit and the first input - output speed sensor of the vehicle, which is the fifth input of the logic block, the output of the first opto-electronic Converter connected to the first input of the first Quad, the output of which is connected to the first input of the third adder, a second input connected to the output of the second Quad, the input connected to the output of the fourth unit, the output of the third adder connected in series across functional Converter and the multiplier to the first input of the second adder, a second input connected to the output element OR the inputs of which are connected to the outputs of n keys, the first the inputs of which are connected to the outputs of the third unit, the second inputs of which are connected to the outputs switch information input geometrical sizes of vehicles travelling along the strip passing traffic, the output of the second adder is connected to a second input of the fourth divider, the output of which is connected to the first input of the second threshold device, the output of which is connected both through the element AND NOT to the input of the third light detector and directly to the input of the fourth light detector.

New features with significant differences in the way are : the e steps:

- simultaneously receive optical radiation from vehicles passing and oncoming lanes, convert them into electrical signals;

- determine the distance to vehicles passing and oncoming lanes;

- determine the speed of approach of the vehicle with vehicles

- determine the geometrical dimensions of the vehicle moving along the strip passing traffic;

- give advice to the driver of the car about keeping a safe distance of movement of the vehicle relative to the vehicle in the passing lane on the basis of the received information;

- issue a recommendation to the driver about the possibility of making a vehicle overtaking another vehicle in the lane in terms of location of the vehicle on the opposite lane;

- provide information to the driver of the vehicle on a safe distance relative to the vehicle in the passing lane on the basis of compliance with the inequalitywhere D1- distance to the vehicle in the lane passing motion, VSBL- the rate of convergence with him, tTormthe time of braking of the car

- provide information to the driver of the vehicle on invalid distance approximation subject to the inequality

- provide information to the driver about the possibility of making overtaking a vehicle on the strip passing traffic, in terms of location of the vehicle on the opposite lane on the basis of the conditions of inequalitywhere D3distance traveled by car to the middle of the lane of oncoming traffic when making overtaking maneuver, L is the geometrical dimensions of the vehicle in the direction of movement of the associated strip car, V3- the speed of the vehicle when making overtaking, VSBL- the speed of convergence toward the oncoming vehicle, D2- the distance to an oncoming car,

- provide information to the driver of the vehicle about the impossibility of overtaking another vehicle proceeding from conditions of inequality

In the device significantly different signs are the second opto-electronic transducer, the transmitter, the switch information input geometrical sizes of vehicles travelling along the strip of associated movements, the first, second, third and fourth light alarm and the Torah and new relationships between schema elements.

Figure 1 shows the scheme of movement of vehicles when overtaking, figure 2 - structural diagram of the device; figure 3 is the first opto-electronic transducer, 4 - second opto-electronic transducer, figure 5 - transmitter figure 6 - block determine the speed of convergence, 7 - logic block.

Device 1 (figure 2-7) to prevent collision of the vehicle containing the first 2 opto-electronic transducer comprising first 3 optical focusing element, n the first 4 of the sensing element, the first 5 of the hood, the first 6 of the optical filter, the first n 7 additional resistances, n-1 first 8 differential amplifiers, the first 9 switch the locator device, the block 10 the definition of hazardous distances, the generator 11 alarm 12 second opto-electronic transducer, the transmitter 13, the switch 14 enter information about the geometric dimensions of the vehicle moving along the strip passing traffic, first 15, second 16, third 17 and 18 fourth light detectors, and n first 7 additional resistances connected respectively with the first n 4 sensitive elements, some conclusions which are in parallel connected to a single power supply output to another output of which is connected to the first 7 conclusions incremental impedance, the first input of the first and second the d input is (n-1)th differential amplifier 8 are connected respectively with the big points of the first and n-first 4 sensing elements and the first 7 additional resistances, the second outputs of the odd-numbered differential amplifiers 8, in addition to (n-1)-th and the first inputs of the even-numbered pairs are connected respectively to the common points of the same name even sensitive elements and additional resistances, the second inputs of the even and the first odd inputs of the differential amplifiers 8, except the first, are pairwise connected to the common connection points of the same name the first 4 sensing elements and the first 7 additional resistances, the outputs of the differential amplifier 8 is connected to the corresponding inputs of the switch-locator device 9, the output of which is connected both to the first input of the transmitter 13 and the first input unit 10 the definition of hazardous distances, the output of which is connected with the generator input 11 alarm, and the second input unit 10 the definition of hazardous distances connected to the output of the speed sensor of the vehicle, the output of the second 12 opto-electronic Converter connected to the second input of the transmitter 13, a third input connected to the speed sensor, the fourth n-group of inputs which - with switch 14 enter information about the geometric dimensions of the vehicle moving along the strip passing traffic and the first, second, third and fourth outputs of the transmitter 13 are connected respectively to the inputs of the first 15, second 16, third 17 and 18 fourth clock the Directors.

The second 12 opto-electronic transducer consists of 19 second optical focusing element, n the second sensitive elements 20, 21 second lens, the second optical filter 22, n 23 second incremental resistance, n-1 second 24 of the differential amplifier, the second switch 25 is the determinant of the coordinates, and n second 23 additional resistances connected respectively with n 20 second sensitive elements, some conclusions which are in parallel connected to a single power supply output to another output of which is connected conclusions incremental impedance, the first input of the first and the second input of the (n-1)-th second 24 differential amplifiers are connected respectively with the big points of the first and n second sensitive elements 20 and second n 23 additional resistances, the second outputs of the odd-numbered differential amplifiers 24, in addition to (n-1)-th and the first inputs of the even-numbered pairs are connected respectively to the common points of the same name even sensitive elements 20 and additional resistances 23, the second inputs of the even and the first odd inputs of the differential amplifiers 24, except the first, are pairwise connected to the common connection points of the eponymous sensitive elements 20 and additional resistances 23, the outputs of differential amplifier 24 is connected to the corresponding inputs of the switch-to determine the El coordinates 25, one of the sensitive elements is the focus of the optical focusing element, and the rest are located one above the other above the focus.

The transmitter 13 comprises a block 26 to determine the speed of approaching vehicles and logic block 27, and the output of the first 2 opto-electronic transducer is connected both to the first input unit 26 to determine the speed of approaching vehicles and the first input of the logic block 27, the second input with the first input unit 26 to determine the speed of approaching vehicles and the fourth input of the logic block 27, the output of block 26 to determine the speed of approaching vehicles is connected with the second and third inputs of the logic block 27, a fifth input connected to the output of the vehicle speed sensor, the sixth group of inputs of which are connected with the release switch 14 enter information about the geometric dimensions of the vehicle in the direction of associated movements, the first, second, third and fourth outputs of the logic block 27 are connected respectively with the first 15, second 16, third 17 and 18 fourth light detectors.

The block 26 to determine the speed of approaching vehicles consists of block 28 to determine the speed of convergence with the vehicle moving along the strip passing traffic, and block the 29 determine the speed of the approaching vehicle, moving in the opposite lane, and the output of the first 2 opto-electronic Converter connected to the input of block 28 to determine the speed of convergence with the vehicle moving along the strip of associated movements, the first output of which is connected with the second input of the logic block 27, and the second output to the second input unit 29, the rate of convergence with the vehicle moving in the opposite lane, the first input connected to the output of the second 12 opto-electronic Converter, and the outputs of the blocks 28, 29 determine the speed of convergence of the vehicles moving on the strip passing and oncoming traffic, are connected respectively the second and the third input of the logic block 27.

The block 28 to determine the speed of convergence with the vehicle moving along the strip passing movement, is composed of the first shift register 30, the first element 31 AND IS NOT, the first 32 and second 33 and third elements 34 And generator 35 pulses, a first counter 36, the first 37 vicites 38 and the first divider, and the output of the first 2 opto-electronic Converter connected simultaneously with the second inputs of the first 32 and second 33 elements And the input of the first shift register 30, the first output of which is connected with the first inputs of the first 32 and third 34 elements And the second output - with the first in the Odom second element 33 And the input of the first element 31 AND IS NOT, the output of which is connected to a second input of the third element 34, And a third input connected to the generator 35 pulses, and the output to the input of the first counter 36, the outputs of the first 32 and second 33 elements And are connected respectively with the first and second inputs of the first 37 myCitadel, the output of which is connected to the first input of the first divider 38, a second input connected to the output of the first counter 36, the output of the first divider 38 is the output of block 28 to determine the speed of convergence with the vehicle moving along the strip passing traffic.

Unit 29 to determine the speed of convergence with the vehicle moving in the opposite lane, consists of the second shift register 39, 40 second element AND the fourth 41, 42 fifth and sixth 43 elements And the second counter 44, the second 45 myCitadel, 46 of the second divider, and the output of the second 12 opto-electronic transducer is connected both to the second input 41 fourth and fifth elements 42 And to the input of the second shift register 39, the first output of which is connected to the first to fourth inputs 41 and 43 sixth element And the second output of the second shear 39 register connected to the first input of the fifth element 42 And the input of the second element 40 AND IS NOT, the output of which is connected to a second input of the sixth element 43 And a third input connected the output of the generator 35 pulses, the outputs 41 fourth and fifth elements 42 And are connected respectively with the first and second inputs of the second 45 myCitadel, the output of which is connected with the second input of the second divider 46, the first input connected to the output of the second counter 44, the input connected to the output of the sixth element 43 And the output of the second divider 46 is the output of the block 29, the rate of convergence with the vehicle moving in the opposite lane.

The logic block 27 comprises a third 47, 48 fourth and fifth 49 dividers, the first 50, 51 of the second threshold devices, the first 52 and second 53, 54 third and fourth 55 setting device, the third 56, 57 fourth element is NOT the first 58, 59 second and third adders 60, multiplier 61, functional Converter 62, the first 63 and second 64 Quad, item, OR 65, n keys 66, and the output of the first 2 opto-electronic Converter connected to the first input of the third 47 divider, a second input connected to the first the output unit 26 to determine the speed of approaching vehicles, and the output of the third 47 divider connected to the first input of the first 50 threshold device, a second input connected to the output of the first knob 52, and the output of the first 50 threshold devices simultaneously connected through the third element 56 AND to the input of the first 15 light alarm and the Torah directly with the second input 16 of the light detector, the second output unit 26 to determine the speed of approaching vehicles connected to the first input of the fifth 49 divider, a second input connected to the output of the second 12 opto-electronic Converter, and the output is connected to a second input 51 of the second threshold device, the first input connected to the output of the fourth divider 48, the first input connected to the output of the first adder 58, a second input connected to the output of the second knob 53, and the first input - output speed sensor of the vehicle, which is the fifth input of the logic block 27, the output of the first 2 opto-electronic Converter connected to the first input of the first 63 Quad, the output of which is connected to the first input of the third adder 60, a second input connected to the output of the second 64 Quad, the input connected to the output of the fourth knob 35, the output of the third adder 60 is connected in series across functional Converter 62, a multiplier 61 to the first input of the second adder 59, a second input connected to the output element OR 65, the inputs of which are connected to the outputs of the n keys 66, the first inputs of which are connected to the outputs of the third knob 54, the second inputs of which are connected to the outputs of switch 14 enter information about the geometric dimensions of the vehicle, moving populace associated movement, the output of the second adder 59 is connected to a second input of the fourth divider 48, the output of which is connected to the first input 51 of the second threshold device, the output of which is connected via an AND-NOT 57 to the input of the third 17 of the light detector and the fourth input 18 of the light detector.

Opto-electronic converters are installed along the axis of view of passing and oncoming lane, the front above the windshield or on the headlights. This placement allows the opto-electronic transducers to monitor vehicles on the strip passing and oncoming traffic.

The proposed device can be performed using known elements and materials. As the optical element can be used hyperbolic (or other form) mirror from automotive lighting headlight, as a sensitive elements - bolometers, thermistors, silicon diodes and other low-inertia elements, typically used for dynamic measurements of temperature or heat flow. The optical filter can be made on the basis of chalcogenide glasses series X.

Selection for the far-IR using an optical filter helps to neutralize the glare devices headlights of oncoming cars, radiation is the group which lies in the wavelength range smaller than 3 μm, more longwave radiation is not passed their protective glass and the glass bulb). The sun's radiation with wavelengths longer than 3 microns well delayed the upper layers of earth's atmosphere. In the range, for example, from 8 to 14 microns is relatively "smooth" feature of the passage of infrared radiation in the waiting room atmosphere, free from the "failures" of the permeability due to the action of gases, CO, CO2, water vapor H2About, etc. It provides stable reception of infrared signals in the fog, in conditions of smoke, etc.

The location of sensitive elements in focus and above the focus of an optical element (hyperbolic mirror) one above the other can clearly be attributed obstacles to one or another section of the danger zone and to avoid the ambiguity of the definition of distance in the case of non-point and neodynamic obstacles, as in the prototype. Differential method of assessing the presence or absence of obstacles implemented by using differential amplifiers, the corresponding connection of the sensing elements and the selection of additional resistances, avoids false alarms due to the longitudinal motion of the vehicle. This method in combination with insulation reduces the effects of changes in ambient temperature.

The device operates as follows.

When the vehicle is determined to be the Deposit to the obstacle, and to vehicles that are on the fringes passing and oncoming traffic.

The determination of the distance is performed based on the reception of radiation from different parts of the viewing area of the sensor elements (4, 20)that are part of the first 2 and second 12 opto-electronic converters (figure 3 and figure 4).

Sensitive elements (4, 20) converts the radiation into electrical signals, which through n-1 differential amplifiers (8, 24) are fed to the switches (9, 25), determinants of coordinates. Switches (9, 25), determinants of coordinates on a difference of signals from surrounding areas to determine the coordinates of the objects.

In the presence of obstacles, the distance information is passed to the block 10 the definition of hazardous distances, where it is compared with predetermined distances, taking into account the vehicle speed received from the speed sensor.

In the case of performing the inequality D0≤Dassunit 10 the definition of hazardous distances generates a signal generator alarm that allows you to avoid the collision of the vehicle with an obstacle.

In the presence of vehicles on the lanes passing and oncoming traffic are also determined by the distance to them, which comes in the transmitter 13 (figure 5).

The transmitter 13 defines additional parameters for the movement of vehicles and on cos the ve information on traffic issues recommendations on allowable distance movement, as well as the possibility of overtaking in the case of the presence of vehicles on the opposite lane.

Determining the speed of convergence of the vehicle, located on the strip passing traffic, as follows (Fig.6). The information about the distance comes from the first 2 opto-electronic transducer to the input of the first shift register 30 and the second inputs of the first 32 and second 33 elements And that consistently trigger signal is applied to the first input element And 32, and then the element And 33 respectively with the first and second outputs of the shift register 30. With the release of the first 32 and second 33 elements And signals are sent respectively to the first and second inputs of vicites 37, the output of which the signal is proportional to the expression DTek-DTekgoes to the first input of the divider 38, to the second input of which receives a signal proportional to the expression Δt.

Signal Δt that defines the time interval between the moments of dimension DTekand DTek, is formed as follows. The pulses from generator 35 pulses through the element And 34 is fed to the input of the counter 36, the output of which receives on a second input of the divider 38. At the output of divider 38, a signal is generated proportional to the speed of the approaching vehicle on the strip passing traffic.

And the illogical is determined by the rate of convergence to the vehicle, located on the oncoming traffic.

The information about the distance and speed of approach of the vehicle relative to the vehicle moving along the strip passing movement, enters the logic block to the first and second inputs of the divider 47, the output of which a signal is generated proportional to the expressionwhere D1is the range of V1- the rate of convergence to the vehicle moving along the strip passing traffic. From the output of the divider 47 signal is supplied to the first input of the first 50 threshold device, to the second input of which the output unit 52 receives a signal proportional to the deceleration time of the vehicle tTorm.

Subject to the fulfillment of the inequalitywith the output of the threshold device 50 no signal and the output element AND-NOT 56 is formed by the signal of the first 15 light signal, thereby the driver receives information about the allowed distance movement relative to the vehicle moving along the strip passing traffic.

In the case of complete inequalitygiven the signal directly at the 16 second light signal on invalid distance of the approaching vehicle and simultaneously removed the signal through an AND-NOT 56 the first 15 of the light detector.

The necessary information for the implementation of the overtaking vehicle is the information about the distance to vehicles passing and oncoming lanes, geometric dimensions being overtaken vehicle speed overtaking, speed of convergence with oncoming transport (figure 1).

Information about the D2oncoming traffic comes from a 12 second optoelectronic Converter in block 27 of logic (7) at the first input of the third 49 of the divider to the second input of which receives information about the speed of convergence of block 29. From the output of the divider 49 signal proportional to the time of convergence to the vehicle, expressionsupplied to the second input 51 of the second threshold device, to the first input of which receives the signal expressionwhere D3signal proportional to the distance, permeable car on original and final areas of overtaking, L is the geometrical dimensions of the vehicle, V3- speed overtaking.

The signal proportional to the distance, permeable car at the start and end sections of overtaking, equal to the expressionwhere D1- distance to overtake the vehicle, And is a constant that determines the distance tsarevna associated to the middle of the oncoming lane.

The signal proportional to the value ofis formed as follows.

The Quad 63 and 64 form a signal proportional to the expression respectively D12and2due to the signal input of the first 63 Quad from the first 2 opto-electronic Converter, and the input of the second 64 Quad from the knob 55. From the outputs of the Quad (63, 64) signals through the adder 60, a functional Converter 62, a multiplier 61 receives at the first input of the adder 59 expressionTo the second input of the adder 59 signal proportional to the geometric dimensions of the vehicle moving along the strip passing traffic, L.

The signal proportional to the geometric dimensions of the vehicle moving along the strip passing motion, L, is formed as follows.

The driver of the car visually determine the geometrical dimensions overtake a vehicle and the switch 14 specifies one of the standard sizes of existing vehicles. The signal is fed to one input of n keys 66, thereby providing for the passage of one of the signals from the generator 54, through the element OR 65 to the second input of the adder 59. From the output of the adder 59 and the signal proportional to the expression 2D3+L, enters the first is the course of the fourth divider 48, to the second input of which receives a signal proportional to the speed of the overtaking V3.

This signal is generated at the output of the adder 58 due to the addition of the output signal from the speed sensor rapprochement with the signal from the second knob 53. The output signal of the first adder 58 is supplied through the first input of the fourth divider 48. From the output of the divider 48, the signal at the first input 51 of the second threshold device.

If the execution conditions of inequalitywith the output of the threshold device 51 no signal, thereby providing the signal from the output element AND IS NOT 57 17 on the third light signal, the driver receives information about the possibility of overtaking vehicles on the strip passing traffic.

In the case of complete inequalitywith the output of the threshold device 51, the signal at the fourth 18 light signal, thereby providing information to the driver about the impossibility of overtaking vehicle, and simultaneously through the element AND-NOT 57 is removed the signal from the third input 17 of the light detector.

Thus, the proposed method and device provide the driver with information not only about the dangerous distance to the obstacle, but also about keeping safe remote is with the vehicle, located on a passing lane, and the possibility of making his overtaking in terms of finding another vehicle on the opposite lane.

The source of information

1. A method of preventing collision of a vehicle and device for its implementation. RF patent for the invention №2050561, CL G01S 17/93, 1995 (prototype).

1. The way to prevent the collision of the vehicle, namely, that receive optical radiation of objects, filter, suppressing signals in the range with wavelengths of less than 3 μm, reception and conversion is carried out for n plots located one behind the other in a hazardous area, identifying obstacles are carried out by the difference of the electrical signals from neighbouring plots, all plots with the detected obstacle is chosen near to the vehicle, determine the distance D0to this obstacle, compare it with the maximum allowable distance Dsupplementarythat is determined based on speed, and produce a warning signal or command to the deceleration in the case of D0≤Dgon., characterized in that simultaneously receive optical radiation from the cars that are passing and oncoming lanes, convert them into electrical signals, determine the distance to vehicles passing and oncoming lanes is viginia, determine the speed of convergence with them, determine the geometrical dimensions of the vehicle in the direction of movement and on the basis of this information, provide recommendations to the driver of the car about keeping a safe distance movement relative to the vehicle in the passing lane and complete overtaking maneuver it in terms of the location of the vehicle on the opposite lane.

2. The method according to claim 1, characterized in that provide information to the driver of the vehicle on a safe distance relative to the vehicle in the passing lane on the basis of compliance with the inequalitywhere D1- distance to the vehicle in the lane passing motion, V1 CBL.- the rate of convergence with him, tTorm.the time of braking of the vehicle, provide information to the driver of the vehicle on invalid distance approximation subject to the inequality

3. The method according to claim 1, characterized in that give information to the driver about the possibility of making overtaking a vehicle on the strip passing motion, subject to the availability of the vehicle on the opposite lane, the IP is odya of the conditions of inequality where D3distance traveled by car to the middle of the lane of oncoming traffic when making overtaking maneuver, L is the geometrical dimensions of the vehicle in the direction of movement of the associated strip car, V3- the speed of the vehicle when making overtaking, V2 SBL.- the speed of convergence toward the oncoming vehicle, D2- the distance to an oncoming car, give information to the driver about the impossibility of overtaking another vehicle proceeding from the condition that the inequality

4. Device for preventing collision of a motor vehicle comprising a first opto-electronic Converter that includes a first optical focusing element, the n first sensing elements, the first lens, the first optical filter, n is the first incremental resistance, n-1 of the first differential amplifier, the first switch is a determinant of the coordinate definition block dangerous distances, generator, alarm, and n-first additional resistances connected respectively with the n first sensors, some conclusions which are in parallel connected to a single power supply output to another output of which is connected conclusions incremental impedance, the first input of the first and second input (p-1)-th differential is territorial amplifiers connected respectively with the n first sensing elements and the first additional resistances, the second outputs of the odd-numbered differential amplifiers, in addition to (n-1)-th and the first inputs of the even-numbered pairs are connected respectively to the common points of the same name even sensitive elements and additional resistances, the second inputs of the even and the first odd inputs of differential amplifiers, except the first, are pairwise connected to the common connection points of the eponymous sensitive elements and additional resistances, the outputs of differential amplifiers connected to respective inputs of the first switch is the determinant of the coordinates, the output of which is connected to the first input of the block definition of hazardous distances, the output of which is connected to the generator input of the alarm signal and the second input unit definition of hazardous distances connected with the output of the speed sensor of the vehicle, characterized in that it further comprises a second opto-electronic transducer, the transmitter, the switch information input geometric dimensions of the vehicle moving along the strip of associated movements, the first, second, third and fourth light detectors, the outputs of the first and second opto-electronic transducer connected respectively with the first and second inputs of the evaluator, a third input connected to the vehicle speed sensor, the fourth n-group input will switch the LEM enter information about the geometric dimensions of the vehicle, moving along the strip of associated movements, the first, second, third and fourth outputs of the transmitter are connected respectively to the inputs of the first, second, third and fourth light detectors.

5. The device according to claim 4, characterized in that the second opto-electronic transducer comprises a second optical focusing element, n second sensing elements, the second lens, the second optical filter, n second additional resistance, p-1 of the second differential amplifier, the second switch is the determinant of the coordinates, and n-second additional resistances connected respectively with n-sensitive elements, some conclusions which are in parallel connected to a single power supply output to another output of which is connected conclusions incremental impedance, the first input of the first and the second input of the (n-1)-th second differential amplifiers are connected respectively with large n second sensing elements and additional resistances, the second outputs of the odd-numbered differential amplifiers, in addition to (n-1)-th and the first inputs of the even-numbered pairs are connected respectively to the common points of the same name even sensitive elements and additional resistances, the second inputs of the even and the first odd inputs of differential amplifiers, except the first, are pairwise connected to a common the point of connection of the same name sensitive elements and additional resistances, the second outputs of the differential amplifiers are connected to respective inputs of the second switch is the determinant of the coordinates, with one of the sensing elements is located in the focus of the optical focusing element, and the rest are located one above the other above the focus.

6. The device according to claim 4, characterized in that the transmitter consists of determining the speed of approaching vehicles and the logic unit, and the output of the first opto-electronic transducer is connected both to the input of block determine the speed of approaching vehicles and the first input of the logic block, the output of the second opto-electronic transducer connected to the input unit determine the speed of approaching vehicles and the fourth input of the logic block, the output block determine the speed of approaching vehicles is connected to the second and third inputs of the logic block, a fifth input connected to the output of the vehicle speed sensor, the sixth group of inputs of which are connected with the output of the switch information input geometric dimensions of the vehicle in the direction of associated movements, the first, second, third and fourth outputs of the logic unit are connected respectively to the first, second, third and fourth light detector.

7. The device is .6, wherein the block of determining the speed of approaching vehicles consists of determining the speed of convergence with the vehicle moving along the strip passing traffic, and block determine the speed of convergence with the vehicle moving in the opposite lane, and the output of the first opto-electronic Converter connected to the input unit determine the speed of convergence with the vehicle moving along the strip of associated movements, the first output of which is connected to the second input of the logic block and the second output to the second input unit determine the speed of convergence with the vehicle moving in the opposite lane, the first input of which connected to the output of the second opto-electronic transducer and the output from the third input of the logic block.

8. The device according to claim 7, wherein the block of determining the speed of convergence with the vehicle moving along the strip passing movement is composed of the first shift register, the first element AND NOT the first, second and third elements And the pulse generator, a first counter, the first vicites and the first divider, and the output of the first opto-electronic Converter connected simultaneously with the second inputs of the first and second elements And the input of the first cdigo the second register, the first output of which is connected with the first inputs of the first and third elements And the second output with the first input of the second element And the input element AND IS NOT, the output of which is connected to a second input of the third element, And a third input connected to the pulse generator, and the output to the input of the first counter, the outputs of the first and second elements And are connected respectively with the first and the second input of the first myCitadel, the output of which is connected to the first input of the first divider, a second input connected to the output of the first counter, the output of the first divider is the output of the block determine the speed of the approaching vehicle, moving along the strip passing traffic.

9. The device according to claim 7, wherein the block of determining the speed of convergence with the vehicle moving in the opposite lane consists of the second shift register, the second element AND the fourth, fifth, and sixth elements And a second counter, the second myCitadel, the second divider, and the output of the second opto-electronic transducer is connected both to the second inputs of the fourth and fifth elements And with the input of the second shift register, the first output of which is connected with the first inputs of the fourth and sixth elements And the second output of the second shift register connected to the first input of the m of the fifth element And and the input of the second element AND-NOT the output of which is connected to a second input of the sixth element, And a third input connected to the output of the pulse generator, the outputs of the fourth and fifth elements And are connected respectively with the first and the second input of the second myCitadel, the output of which is connected with the second input of the second divider, the first input connected to the output of the counter, an input connected to the output of the sixth element, And the output of the second divider is the output of the block determine the speed of convergence with the vehicle moving in the opposite lane,

10. The device according to claim 6, characterized in that the logic block consists of the third, fourth and fifth factors, first and second threshold devices, first, second, third and fourth control devices, third, fourth elements AND IS NOT, first, second and third adders, multiplier, functional Converter, the first and second Quad, item, OR n-key, and the output of the first opto-electronic Converter connected to the first input of the third divider, a second input connected to the first output unit determine the speed of convergence of the vehicles, and the output of the third divider is connected to the first input of the first threshold device, a second input connected to the output of the first generator, and the output of the first threshold device is and is connected both to the input of the third element AND NOT directly with the input of the second light detector, the output of the third element AND IS NOT connected to the input of the first light detector, the second output unit determine the speed of approaching vehicles connected to the first input of the fifth divider, a second input connected to the output of the second opto-electronic transducer, and the output connected to the second input of the second threshold device, the first input connected to the output of the fourth divider, the first input connected to the output of the first adder, a second input connected to the output of the second unit and the first input with the output of the speed sensor of the vehicle, which is the fifth input of the logic block, the output of the first opto-electronic Converter connected to the first input of the first Quad, the output of which is connected to the first input of the third adder, a second input connected to the output of the second Quad, the input connected to the output of the fourth unit, the output of the third adder connected to the functional input of the inverter whose output is connected to the input of the multiplier, the output of which is connected to the first input of the second adder, a second input connected to the output element OR the inputs of which are connected to the outputs of n keys, the first inputs of which are connected to the outputs of the third unit, the second inputs of which are connected to the outputs of the switch is the switch information input geometries vehicle moving along the strip passing traffic, the output of the second adder is connected to a second input of the fourth divider, the output of which is connected to the first input of the second threshold device, the output of which is connected both to the input of the fourth element AND NOT directly to the input of the fourth light detector, the output of the fourth element AND IS NOT connected to the input of the third light detector.



 

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