Method for prevention of car collisions with obstacles and system for its realisation

FIELD: transportation, safety arrangements.

SUBSTANCE: in suggested method impulse signals from wheels rotational velocity sensors are recorded and inputted to data processing unit. Values of physical variables defining vehicle condition and limit values of physical variables are determined in real time according to values of wheel rotational velocities. At the output of data processing unit, signal is generated which contains information about approximation of physical variables defining vehicle condition to limit values or about exceeding the limit values. Depending on physical variables values and limit values of physical variables defining vehicle condition, the signal with control action preventing vehicle contact with obstacle is generated. Suggested system contains wheels rotational velocity sensors. Data processing unit includes microprocessor being able to identify the operative conditions of wheels rotational velocity sensors, to determine in real time the values of physical variables defining vehicle condition and limit values of physical variables according to values of wheels rotational velocities, and to generate signal containing information about approaching of mentioned values of physical variables to limit values or exceeding limit values.

EFFECT: group of inventions allows preventing typical collisions.

6 cl, 3 dwg, 1 ex

 

The invention relates to the automotive industry, in particular to methods and devices to improve the active safety of vehicles, and can be used in on-Board local computing network of the vehicle.

A device to monitor the safety of road transport, which contains the angular rate sensor, sensors, controls, storage information, remote control, time sensor, the microprocessor, the display, the second angular rate sensor, the controller. While the first and second inputs/outputs of the microprocessor are connected respectively with the sensor time and memory to write to the drive and read from it the sensor signals indicating the recording time. The first and second outputs of the microprocessor are connected respectively to the display and controller for connection to its output portable memory block. The first and second inputs of the microprocessor connected respectively to the speed sensors of the left and right steered wheels of the vehicle, and the remote control is connected to the third input of the microprocessor to enable the microprocessor, which is read from the drive and the calculation of the motion parameters of the vehicle. The known device operates as follows.

The device works the AET in two modes: record and control. The recording mode is carried out while the vehicle is in motion, when the storage medium is installed in increments of time are recorded: real time received from sensor time, the rotation speed of the left and right steered wheels, the sensor signals of the controls of the vehicle. The recording mode information is performed by the microprocessor in accordance with the software. (Patent RF №2193233, IPC 7 G07C 5/08, publ. 20.11.2002,).

Known automotive on-Board information system containing electronic unit consisting of a front panel with a window alcove, with holes for contact slots, and housing with digital display, having a screen that is compatible with window front panel, speaker, circuit boards, as well as the fixation of the electronic unit in the dashboard of the vehicle, the contact electrical connector supported by the interface K-Line ISO 9141 and ISO 14230-1, characterized in that it is equipped with a keyboard with keys that have radiated by the LEDs marking fibers, performs the functions of the additional indication emitted by the LEDs light, the photosensor and a photodetector, a photosensitive part which is placed on the outer side of the faceplate and circuit Board of the control buttons, LEDs, other parts of the photosensor and photoplan the ka, built on the inner side of the bezel, and mounted on the chassis plate of the inverter and main Board with protruding in front of the contact sockets to align with the holes in the niches on the front side of the panel and protruding in the rear of the chassis contact electrical connector, socket to connect an external antenna, rear view camera placed on the rear window of the vehicle, and supported interfaces USB (Host / Slave), USB - OTG, 1 - Ware, CAN 2.0 Century. the system works based on multiplex and information-diagnostic systems, integrating sensors, actuators and electronic the blocks. (Patent RF №2268829, IPC 8 B60R 16/02, publ. 27.01.2006,)

The closest in technical essence is a method and device for limiting the speed of the vehicle depending on the dynamic characteristics of lateral movement includes a system that interrupts the fuel supply. (Patent RF №2261188, IPC 7 WT 8/24, publ. 27.09.2005,)

The device comprises two sensors installed on the bridge and the locking testimony lateral acceleration of the bridge and acceleration of rotation of the axle, two cascaded integrator, process signals from the sensors and outputs the variable components of the lateral movement and rotation, the correlator located on the car body, the clarification is tion on it two lateral acceleration sensors of the body and the acceleration of the rotation body, link offset, multiplier and integrator defining the variable component of the impulse transient function of the object, an input of the electronic device determining the critical vehicle speed, determining the value of the critical velocity using the frequency stability criterion, and resolutely, which severs the link between the pedal position sensor fuel delivery and electronic control unit injection when reaching the actual vehicle speed is critical, thereby limiting the vehicle speed in a straight line.

The operation of the device is as follows: the signals from the sensors lateral acceleration of the bridge and acceleration of rotation of the axle, served on two cascaded integrator, where the signals integrate twice. At the output of the integrators receive variable components of the lateral movement and rotation. Next, the signals are sent to the correlator, which defines the variable components of the impulse transient function object.

The disadvantages of the known devices and methods of this electronic equipment motor vehicles are limited functionality, and it is only the limitation of the maximum speed of rectilinear motion, low Promahonas the security and the high cost.

The technical task to be solved by the invention is to prevent a typical collision of the vehicle due to the dynamic stabilization of the physical variables that characterize the condition of the car.

The technical problem is solved in that in the method of preventing collision of the vehicle with the obstacle by registering the pulses generated by the sensors of the primary information about the physical variables that characterize the state of the vehicle, and transmitting them to the processing unit, which determines the boundary values of the physical variables characterizing the critical state of the vehicle, according to the proposed invention, registering the pulses generated by the sensors of the rotation speed of the wheels, which are used as probes of the primary information about the physical variables that characterize the state of the vehicle, and serves on the input of the processing unit, in which the values of the speeds of the wheels to determine in real time the values of the physical variables and boundary values of the physical variables characterizing the critical state of the vehicle, the output processing unit information form the information signal on the approach to the boundary values of physical variables characterizing the critical state AB is mobile, or exceeded and transmit visual information display and at least one means for indicating dangerous conditions that activate in accordance with the generated signal, depending on the values of physical variables and boundary values of physical variables characterizing the critical state of the vehicle, generate a signal with a control action to prevent the collision of the vehicle with the obstacle.

An additional difference method is that the processing unit pulses generated by the sensors of the rotation speed of the wheels is processed with software that is configured with the ability to determine in real time the values of the speeds of the wheels of the values of physical variables and boundary values of physical variables characterizing the critical state of the vehicle, and select the appropriate means of indicating dangerous conditions for transmission of the corresponding generated signal about the dangerous condition of the car.

An additional difference method is that in the processing unit, the pulses generated by the sensors of the rotation speed of the wheels is processed with software that is configured with the ability to identify the state of the sensors of frequency rotations is of wheels and offset the impact of their failures on the results of determining in real time the values of the speeds of the wheels of the values of physical variables and boundary values of physical variables, characterizing the critical condition of the car.

The solution of a technical problem is achieved by the fact that the system for preventing collision of the vehicle with obstacles that contains the sensors of the primary information about the physical variables that characterize the state of the vehicle, connected through communication lines with the processing unit, including a microprocessor, is connected to the visual display of information, according to the proposed invention, includes as primary sensors information about the physical variables that characterize the state of the vehicle, the gauges of frequency of rotation of the wheels, each of which is connected through lines of communication with the microprocessor, the processing unit further includes at least one, United with the microprocessor, the input tool configuration data and management modes and at least one means for indicating dangerous conditions, the microprocessor is configured to identify the state of the sensors of frequency of rotation of the wheel, determining in real time the values of the speeds of the wheels of the values of physical variables and boundary values of physical variables characterizing the critical state of the vehicle, and a signal with information about the approach of the aforementioned values to the boundary values of physical variables, characterizing the critical state of the vehicle or exceeded.

An additional difference is that the microprocessor is configured to compensate for the effect of sensor faults of the frequency of rotation of the wheels on the results of determining in real time the values of the speeds of the wheels of the values of physical variables and boundary values of physical variables characterizing the critical condition of the car.

An additional difference is that the microprocessor is supplied with software that is configured to determine in real time the values of the speeds of the wheels of the values of physical variables, and boundary values of physical variables characterizing the critical state of the vehicle, and a signal with information about the approach mentioned values to the boundary values of physical variables characterizing the critical state of the vehicle or exceeded, identify the state of the sensors of frequency of rotation of the wheels and compensation of sensor faults of the frequency of rotation of the wheels on the determination results of the above-mentioned values.

The technical result of the invention is to expand the functionality of the system prevent the typical collision, resulting in minimal the Noah configuration technical equipment used at the expense of dynamic stabilization of the physical variables, characterizing the condition of the car, through the implementation of the proposed method.

Thus, in particular, the upper bound of the safe vehicle speedis defined as the minimum of the group boundary velocities, 1≤i≤6:

where

- upper limit of speed which can be set taking into account the rules of the road speed limits in towns, outside built-up areas and on motorways;

the upper border of the speed gap-ply tires with the values of wear cords, pressure and brands of tires;

the upper border of the speed of the spinning wheels, as measured by parameters of the vehicle and the road surface;

the upper border of the safe speed pass turn, defined as the minimum speed skidding of the rear wheels, the demolition of the front wheels and the speed of overturning of the vehicle;

the upper border of the safe speed with installed spare wheel (tokatkoy) of reduced diameter;

the upper border of the safe speed determined additional the additional angles of camber.

The inequalitymeans that all sufficient conditions for collision preventionalso performed.

In the case whenon the display is formed by the signal exceeded safe speed, which is maintained until the moment when.

Control actions on the throttle of the engine, brakes and steering wheel are formed by the driver to reduce speed Vmto a safe conditionwhen the indicator is not generated signal exceeded safe speed.

To prevent possible exceeding the dynamic boundaries of speed provides a prediction on the time τethe velocity of the center of mass of Vmand the rotation angle of the steering wheels ψwith:

where

- projected velocity of the center of mass;

- projected rotation angle of the steered wheels;

- the first derivative of the rotation angle of the steered wheels ψc.

Similarly form signals the exceeding of limit values of the pressure of air in the tires, temperature overheating of tires, SC is Rasta longitudinal sliding of the wheels.

In case of occurrence of signal on exceeding of limit values for pressure, the driver is able to choose a safe place for emergency stop and to resolve the asymmetry of the pressure in the tires.

In case of excess temperature overheating of tires, the driver should reduce speed to a value at which the temperature of the overheating does not occur and the signal excess is not generated.

In case of exceeding the limit values of the velocities of the longitudinal slides smoothly when or locking wheel control actions on the throttle and the brake pedal is reduced by the driver until the signal excess is not generated.

If the boundary is a safe distance between passing vehicles exceed the true values of the distances measured by the driver, the formation of the driver control actions on the throttle or brakes to increase the distances that exceed a limit value.

If the boundary is the distance required for stopping, exceeds the distance detecting stationary obstacles, evaluated by the driver in conditions of limited visibility, the development of a driver control actions on the throttle or brakes to mind is isenia the boundary values of the distance values, smaller detection range of fixed obstacles in specific driving conditions.

Failure of the suspension or steering result in unacceptable wear of the hinge joints are detected by the driver on the value of the module of the toe angle of the steered wheels, which is defined on the horizontal sections of smooth pavement run in the neutral state of the transmission and zero control effects on the brake system.

Malfunction of the brake system are detected by the driver on the deviations of the measured values of deceleration from deceleration values given in the technical data of the vehicle, or asynchrony excess edge slides in the axial pairs of wheels during braking or to increase the deceleration in the run.

Malfunction of the engine detected by the driver on the deviation of the instantaneous values of engine power during acceleration at low speed transmission from the values given in the technical data of the car.

Malfunction of the fuel system are detected by the driver on the variance values of the specific and total fuel consumption from the actual values.

The proposed method of preventing collision of the vehicle with obstacles and system for its implementation allow to detect errors in transport medium spans the PTO and dangerous failure of the vehicle to prevent a collision of the vehicle with obstacles due to control actions on the controls of the car.

Among the critical conditions include situations in which the vehicle is a danger to traffic, creating the threat of collisions with obstacles. Critical conditions may occur in the movement and in stationary traffic.

The collisions include collisions with objects on the road surface, and clashes with the road surface when the vehicle overturns.

Causes of preventable collisions with obstacles are control error and technical failure.

Technical failures can lead to unpredictable changes in direction of car or involuntary stops, which create a hazard to traffic.

Causes of preventable collisions controlled car with obstacles that are on the same lane, errors are a selection of distances between passing cars, the error of the speed of movement in a limited range of detection of stationary obstacles and errors selected the speed on turns, leading to overturning.

Causes of collisions of the controlled vehicle with obstacles on the adjacent lanes are unpredictable changes of direction in the error is to control or technical fault of the car.

Causes overturning of the vehicle occurring beyond the boundaries of the road surface, are also unpredictable changes of direction as a result of operating errors or technical malfunctions of the car.

In the number of preventable collisions of the controlled vehicle includes collision, due to the following error management and technical faults with the car.

To the error management include:

error selection speed on the turns, which can cause overturning or unpredictable changes of direction due to the demolition of the front or skidding of the rear wheels of the vehicle;

error selection speed in conditions of limited visibility of stationary obstacles, which can lead to collisions due to insufficient for a complete stop of the distance to stationary obstacles;

error selecting speeds on slippery surfaces, including the mode of aquaplaning, which can lead to unpredictable changes of direction due to invalid smoothly wheels, either because of a loss of control of the front wheels;

error selecting the speed of a wheel of smaller diameter (tokatkoy)installed in the front or rear pair of wheels, which mo the ut lead to unpredictable changes of direction during braking;

error selecting the distance between passing vehicles, which can lead to collisions with passing vehicles when braking;

error management impacts on the throttle of the engine or braking system, which can lead to unpredictable changes of direction due to invalid lock or smoothly the wheels when braking or acceleration;

error select a speed exceeding the speed gap-ply tires, which can lead to unpredictable changes of direction. To consider the technical problems with the car are:

- asymmetry of wheel pairs, resulting from unacceptable pressure difference in pairs of tyres in the front or rear wheels;

the destruction of the tyre due to the rupture of the cord or turning the tire on the rim;

- removing the wheels from the hubs in the unscrewing fasteners or destruction of the bearings;

the destruction of the suspension or steering result in unacceptable wear of the hinge joints;

- reducing the effectiveness of the wheel brakes as a result of loss of tightness of brake system, contamination of working surfaces of the brake or jamming of the pistons of the brake cylinders;

- reduction in force tradescantia wheels delamination of the tread and the destruction of cord in the temperature of the overheating of the tire;

- malfunction of the engine, accompanied by a decrease develop capacity and leading to forced stops;

- malfunction of the fuel system or engine, accompanied by an increase in fuel consumption and resulting in forced outages.

Provides error control and condition of the car and lead to a hazardous state of the vehicle, in which the possible collision with obstacles.

Timely detection of hazardous conditions allows to generate control actions to prevent hazardous conditions and to prevent the possibility of collision with obstacles.

As a physical variables characterizing the state of the vehicle, which are determined by the values of the speeds of the wheels, are considered defined variables of the sufficient conditions for collision avoidance due to the above error management and technical defects.

In a number of physical variables that characterize the state of the vehicle, includes the following state variables for wheels (1≤i≤4), center of gravity, steering linkage and engine:

- increment-path (ΔLi)traveled the i-th wheel;

the line is the first speed (V i) the i-th wheel;

longitudinal acceleration (ai) the i-th wheel;

- air pressure (Pi) in the tire of the i-th wheel;

the superheat temperature (ΔTi) the i-th bus;

- temperature component of the pressure (ΔPTi) the i-th bus;

- static radius (RCi(0)) if Ri=0 the i-th wheel;

- wear Corda (ΔPKi) the i-th bus;

- the linear velocity of the longitudinal slip (ΔVSi) the i-th wheel;

- the amount of misalignment (dxi), is proportional to the additional camber angle (Δγi) the i-th wheel;

the number of magnets (Mi) on the rim of the first wheel;

- longitudinal velocity (Vm) the center of mass of the vehicle;

longitudinal acceleration (amcenter of mass;

- lateral acceleration (aqcenter of mass;

- path (Lm)traversed by the center of mass;

- angle (ψc) steering wheels;

- convergence angle (ψs) steering wheels;

- instantaneous power (WE)developed by the motor;

- the instantaneous value of the specific fuel consumption (GR);

- amount of fuel consumed (BR);

Among the identified control actions on the controls of the car are:

- the number of transmission (U1) gearbox (transmission);

the position of the throttle of the engine (U2);

control without the op perate the brake system (U 3);

Among the computed boundary values of the physical variables include:

- boundary distance of a passing car (Ld);

- cutoff distance to a complete stop (LS);

module boundary angle (DL) steering wheels;

- upper limit of speed which can be set taking into account the rules of the road speed limits in towns, outside built-up areas and on motorways

the upper border of the speed gap-ply tires with the values of wear cords, pressures and brand tires

the upper border of the speed of the spinning wheels, as measured by parameters of the vehicle and the road surface

the upper border of the safe speed pass turn, defined as the minimum speed skidding of the rear wheels, the demolition of the front wheels and the speed of overturning of the vehicle

the upper border of the safe speed with installed spare wheel (tokatkoy) of smaller diameter ();

the upper border of the safe speed determined additional angles of camber

- top and lowerthe boundaries of the pressures in the i-th bus, defined terms and conditions of asymmetry, the destruction of the cord and turning the tire on the rim;

- boundary value temperature overheatingtire;

- boundary value module (|ΔVs|Gthe speed of longitudinal sliding of the wheels.

The boundary values of the physical variables are determined by the ratios, which are sufficient conditions for collision avoidance are considered types.

set in input mode, data in the form of values, for example, 110 km/h for the case of driving on a motorway, or 60 km/h for movement in the settlements, or 90 km/h for movement outside the settlements.

speed break-ply tire is defined as:

where

- boundary value zone of elastic deformation cord tires (mm);

VT- the speed determined by the speed index of the tyres (m·-1);

ΔRki- wear-ply 1 tire(mm);

kPI=1 - coefficient of linear expansion of the tire in the area of elastic deformation (mm·bar-1);

kTi≈0.610-2- coefficient of thermal component pressure (bar·· m-1);

kVi=10-5mTi[2πR2CilTi]-1- coefficient of influence of centrifugal force during the rotation of the tire mass mTiwith linear velocity VInGr(kg·m-3);

RCistatic radius of the i-th wheel width lTi(mm);

PiH- nominal pressure value in the i-th bus (bar).

the speed of spinning the drive wheels in motion with constant velocity is defined as:

where

kX- coefficient frontal aerodynamic drag ;

mo- gross vehicle weight specified taking into account the mass of the driver, passengers, cargo and fuel;

g - free fall acceleration;

kTp- coefficient of rolling friction of the tires;

αT- the pitch angle;

kSi(0) is the coefficient of static friction of the i-th wheel in the longitudinal direction.

safe passing speed of the curve is defined as the minimum of the boundary velocities skidding of the rear wheelsthe nose of the front wheels and overturningcar:

where

hm- the height of the center of mass of the vehicle; ψc- the rotation angle of the steered wheels;

kSq(0) is the coefficient of static friction of the tires in the transverse direction.

the upper boundary of the safe speed with installed spare wheel with reduced diameter (tokatkoy) is defined as:

where

the upper border of the safe speed tokatkoy in the front pair of wheels;

the upper border of the speed with tokatkoy in the rear pair of wheels; Ci(1≤i≤4) is a binary indication of the formation of the sensor signals of frequencies of rotation of the wheels.

Given that zakatka not equipped with active elements (magnets), a binary trait Withi=0 for sensor i-th wheel dokecki that allows you to define the number of the sensor and the position of dokecki in a wheel pattern.

the upper boundary of the safe speed, the op is adesemi the misalignment, is defined as:

where

|dxm|=max{|dx1|,|dx2|,|dx3|,|dx4|} is the maximum value of the modulus of misalignment.

|dxi| - the value of the modulus of misalignment of the i-th wheel, 1≤i≤4;

dxG- boundary value misalignment.

All these physical variables except growth path (ΔLi), velocities (Vi) and accelerations (aiwheels used for intermediate calculations other physical variables, are displayed at the request of the driver, which is formed by the exposure control keys display.

The boundary values of the physical variables characterizing the critical state of the vehicle, determine the boundaries of the relevant physical variables, compliance with which causes the safe condition of the vehicle.

The boundary values of the physical variables characterizing the critical state of the vehicle, are dangerous boundaries, the approach to which or exceeded, lead to a dangerous vehicle conditions, and may result in collision with obstacles.

The invention is illustrated by drawings, where figure 1 shows a block diagram of a system that implements the method, figure 2 shows a block diagram illustrating the implementation of the method, figure 3 shows the scheme of installation of sensors hour is the rotation of the wheels of the induction type.

A system for preventing collision of the vehicle with the obstacle (figure 1) contains the sensors of the primary information about the physical variables that characterize the state of the vehicle, in which sensors are used frequencies of rotation of the wheels 1, 2, 3, 4. Gauges of frequency of rotation of the wheels 1, 2, 3, 4 belong to well-known sensors induction type and is mounted on a rim 19 of the respective wheels, where are mounted two diametrically spaced permanent magnet 20 of each sensor, and brake shields 21 of the vehicle, where the bracket each induction sensor 1 (Fig 3).

The system contains unit 5 of the information processing, which includes a microprocessor 6, United with him means 7 visual display of information. Tool 7 visual information display is performed, for example, in the form of an LCD screen.

Unit 5 data includes also connected to the microprocessor 6 means 8, 9, 10, 11 input configuration data and management information modes and connected to the microprocessor 6, the means 12, 13, 14, 15 indicate dangerous conditions.

The means 12, 13, 14, 15 indicate dangerous conditions and means 8, 9, 10, 11 control modes grouped in pairs in such a way as to ensure the least time access to information about the values of physical re the military, causing activation of the appropriate means of indicating dangerous conditions.

Each of the means 8, 9, 10, 11 input configuration data and control the display modes may be performed in any known means, designed to perform these functions, for example in the form of a multi-mode keys, sensors, etc.

Each of the means 8, 9, 10, 11 is configured to input one or more values of the adjustment data and control one or more display modes.

For example, the tool 8 when the first pressing control mode display the values of edge distance to the associated barriers and edge distance required for a full stop in front of a fixed obstacle, the second pressing respectively the value of the velocity of the center of mass of the vehicle and the boundary values of the vehicle speed, the approach to which, or its excess leads to the dangerous state of the vehicle, and may result in a collision with an obstacle, when the third pressing - values of the longitudinal and transverse accelerations of the center of mass, when the fourth pressing : the value of the rotation angle of the steered wheels and the boundary value of the rotation angle of the steered wheels.

For example, the tool 9 with the first keystroke provide the supports the possibility to control the display of values of the pressure of the gas or mixture of gases in a vehicle tire, when the second pressing respectively - values misalignment induction sensors and magnets (characteristics additional angles of camber), when the third pressing - values wears cords on each wheel, when the fourth pressing of the maximum values of the coefficients of sliding friction of the wheels.

For example, the tool 10 when the first pressing control mode display temperature values overheating of the tire, when the second pressing respectively the values of the specific flow rate and volume of fuel consumed, when the third pressing - values develop the capacity of the motor and the toe angle of the steered wheels when the fourth pressing : boundary values of control actions on the throttle and brakes, the current values of these control actions and non transmission gearbox.

For example, the tool 11 when the first pressing provides the possibility to control the display values of the mileage since the last reset of the readings (if necessary, a new reference), when the second pressing respectively the choice of the climate mode settings coefficients of sliding friction wheels (summer - winter), when the third pressing - provides input mode tuning parameters of the vehicle in zavisimost and from the model and the individual characteristics of the vehicle and the driver (for example, total mass, mass distribution on the wheels, the nominal pressure in the front and rear tires, the radii of the tires, gear ratio transmission and the main transmission, the parameters of the braking system, the lag time include brakes, speed index of the tyres, the size of the gauge and the base of the car, etc.)

In input mode, the tuning parameters of the vehicle means 8 when the first press displays the ID of the first on the list of configurable parameter and the numerical values stored in the system memory, when the second pressing respectively the ID of the second configurable parameter and its numerical value, subsequent keystrokes respectively the following list of identifiers of the parameters and their numerical values up to the last from the list.

The tool 11 with the first pressure input mode tuning parameters of the vehicle displays the previous list of ID and its numerical value, subsequent keystrokes respectively the previous list of identifiers of the parameters and their numerical values up to the first in the list.

In input mode, the tuning parameters of the vehicle means 9 at the first and subsequent pressings provides increased numerical values for the custom setting on the step size Dunn is th variable.

In input mode, the tuning parameters of the vehicle, the tool 10 at the first and subsequent pressings provides a reduction of the numerical values for the custom setting on the step size for this variable.

Alternating keystrokes 9 and 10 when you enter one of the custom setting provides a reduction step for this parameter is 10 times.

In display mode, the pressure means 11 provides a mode setting pressure, the tool 8 is used to confirm the configuration command, the tool 9 to switch back to display mode pressure.

Each tool 12, 13, 14, 15 indicate dangerous conditions can be performed in any known means, designed to perform these functions, such as led indicators. Every indication of hazardous conditions is configured to activate in case of reaching or exceeding the critical values for one or more specific physical variables characterizing the condition of the car. For example, the tool 12 indicating a dangerous state is activated when reaching or exceeding the critical values of the vehicle speed. For example, the tool 13 indication of hazardous conditions is activated when reaching or exceeding the critical pressure of the gas or mixture of gases in the tires of the truck. For example, the tool 14 indication of hazardous conditions is activated when reaching or exceeding the critical temperature of the overheating of the tire. For example, the tool 15 indication of hazardous conditions is activated when reaching or exceeding the critical velocities of the longitudinal sliding of the wheels.

In the proposed system (figure 1) each sensor of rotation of the wheels 1, 2, 3, 4 is connected via a communication line 16 to the corresponding input of the microprocessor 6 via photon-coupled pair 18 that provides the normalization of the output signals when the input signals exceed the threshold level of the trigger photon-coupled pair.

The microprocessor 6 is configured to identify the status of the sensors 1, 2, 3, 4 frequency of rotation of the wheel, determining in real time the values of the speeds of the wheels of the values of physical variables and boundary values of physical variables characterizing the critical state of the vehicle, and a signal with information about the approach mentioned values of the physical variables to the critical values of the physical state variables of the vehicle or exceeded. The microprocessor 6 is also configured to compensate for the effect of sensor faults of the frequency of rotation of the wheels on the results of determining in real time at speeds of wheels of the values of physical AC is the R and the boundary values of the physical variables, characterizing the condition of the car. The microprocessor 6 is supplied with software (Certificate of official registration No. 2006610522, the priority of 13/12/2005, information published in the official Gazette No. 2 (55) for 2006, p.122), which is configured to determine in real time the values of the speeds of the wheels of the values of physical variables and boundary values of physical variables characterizing the critical state of the vehicle, and a signal with information about the approach mentioned values of the physical variables to the critical values of the physical state variables of the vehicle or exceeded, identify the state of the sensors of frequency of rotation of the wheels and compensation of sensor faults of the frequency of rotation of the wheels on the results of the mentioned values.

The system includes a power supply unit 17 connected to the tool 7 visual display and microprocessor 6 via which the power supply 17 is connected means 12, 13, 14, 15 indicate dangerous conditions.

The proposed method is as follows.

Gauges of frequency of rotation of the wheels 1, 2, 3, 4 mounted on the respective rims of the wheels and brake shields car. The pulses generated by the sensors of the rotation speed of the wheels, come to block processing the TCI information 5 corresponding to each sensor inputs of the microprocessor 6. The pulses are recorded by the values of frequency of rotation of the wheels will determine in real time the values of the physical variables and boundary values of physical variables characterizing the critical state of the vehicle. Values of the physical variables is compared with the boundary values of physical variables.

In the processing unit pulses generated by the sensors of the rotation speed of the wheels is processed with the software supplied with the microprocessor 6. Software configure with the ability to determine in real time the values of the speeds of the wheels of the values of physical variables and boundary values of physical variables characterizing the critical state of the vehicle, and select the appropriate means of indicating dangerous conditions for transmission of the corresponding generated signal about the dangerous condition of the car. Software configure with the ability to identify the state of the sensors of frequency of rotation of the wheels and offset the impact of their failures on the results of determining in real time the values of the speeds of the wheels of the values of physical variables and boundary values of physical variables characterizing the critical condition of the car.

State identification sensors speeds to the EU is as follows.

Measure the number of pulses recorded from each of the sensors of frequency of rotation of the wheels during a fixed time interval, which corresponds to the frequency of rotation of the wheels. Determine the largest of the measured frequencies and calculate the relationship of the measured frequency to the highest. Frequency pulse sensors is proportional to the number of active elements (magnets) sensors and linear speeds of the wheels.

The number of magnets of the sensor wheel speed determined equal to two, if the measured value of the velocity of the center of mass exceeds a certain value and the measured longitudinal acceleration of the center of mass is limited by module specific value and the measured rotation angle of the steered wheels is also limited by module specific value, and the frequency of pulses to the highest of the frequencies of the sensors is approximately equal to one.

The number of magnets of the sensor wheel speed determined equal to one if the measured value of the velocity of the center of mass exceeds a certain value and the measured longitudinal acceleration of the center of mass is limited by module specific value and the measured rotation angle of the steered wheels is also limited by module specific value, and the frequency of pulses to the highest of the frequencies of the sensors is approximately equal to 0.5.

The number of magnets of the sensor, h is the notes of rotation of the wheel is determined to be zero, if a nonnegative measured longitudinal acceleration of the center of mass of the vehicle or the frequency of the pulses to the sum of the frequencies of the pulses of the sensors driven wheels rear-wheel drive or front-wheel-drive vehicle greater than a certain positive value, zero, or the ratio of the frequency of pulses to the highest frequency pulse sensors-wheel drive car, exceeding the rotational speed of the wheels in low gear transmission, zero.

The compensation of sensor faults of the frequency of rotation of the wheels on the results of determination values and the boundaries of the physical variables is as follows.

The fault sensors frequency of rotation of the wheels include a reduction in the number of magnets sensors on the rims of the wheels 2 to 1 or to zero. The compensation Troubleshooting exercise for sensors with a number of magnets is not less than one. The linear velocity of rotation of the wheels, which are the input data for all other physical variables and their boundaries, determined by the Euler's formula to convert angular velocity to linear. The angular velocity of rotation of the wheels is defined as the product of frequency of rotation of the wheel at a constant 2π. The frequency of the pulses of the sensors receive is proportional to the number of magnets uniformly location is right on the wheel rim, and the wheel speed. The wheel speed determined equal to half the pulse frequency of the sensor, if the number of magnets of the sensor is equal to two. The wheel speed determined equal to the frequency of the pulses, if the number of magnets of the sensor is equal to the unit.

Compensation the effect of reducing the number of magnets sensors from two to one ensures that alter the ratio between the pulse frequencies of the sensors and the rotational speed of the wheels.

The output of block 5 processing information form the information signal on the approach to the boundary values of physical variables characterizing the dangerous condition of the car, or exceeded and deliver it to the tool 7 visual display of information. The generated signal with the mentioned information and serves on appropriate means 12, 13, 14, 15 indicate dangerous conditions that activate in accordance with the generated signal depending on the values of physical variables and their boundary values of physical variables characterizing the dangerous condition of the car. Next, form the appropriate control actions to prevent collision of the vehicle with obstacles (e.g., effects on the brake system).

For the technical solution sequentially perform the following operations.

Register the number of pulses N i(k) and the time of receipt of last t1iprevious t0i, pulse sensors of rotation of the wheel and determine the time interval (step) calculations (for example, 1 second), the frequency of the pulses. To improve the accuracy of frequency of rotation of the wheels perform a linear interpolation of incremental angles of rotation of the wheels at the beginning and at the end of the time interval of the calculation.

The increment path ΔLitraveled by the wheel, determined as the product of the increment of the rotation angle and the radius of the wheel. To improve the accuracy of determining the increment of the path traveled by the wheel, the wheel radius is determined by the sum of terms of the radius of the wheel at zero pressure of a gas or mixture of gases, the term proportional to the sum of nominal values of pressure and thermal component of the pressure, and a term proportional to the square of the linear velocity of rotation of the wheel, as defined in the previous step.

The linear speed of rotation of the wheel Videtermine the ratio of the increments of distance traveled by the wheel to step calculations.

Linear acceleration of the wheel andidefined as the ratio between the increment of the path traveled by the wheel, on the current and previous steps to the square of the step computation.

To improve the accuracy of determination of the linear speed of the wheel its value PE is opredelyaut as the ratio of the difference between one and a half increments path at the current step and half of the increment of the path in the previous step to the magnitude calculation step, if defined earlier is the linear velocity does not exceed the value of the works half the sampling frequency port of the computer used on the square calculation step and the module defined earlier linear acceleration of the wheel.

The longitudinal velocity of the center of mass Vmcar is defined as the sum of the linear velocity of the axial or diagonal pairs of wheels, is equipped with serviceable sensors frequency of rotation of the wheels, if the module of the difference between the half-sum of the linear velocity and the velocity of center of mass in the previous step is the smallest of the many axial or diagonal pairs of wheels. The longitudinal acceleration of the center of mass of the vehicle amdefined as the ratio between the velocities of the center of mass for the current and previous steps to step calculations.

If the magnitude of the longitudinal acceleration of the center of mass does not exceed the upper and lower limits of acceleration, which is determined from the conditions for the existence of axial and diagonal pairs of wheels with zero velocities of longitudinal slides, the rotation angle of the steered wheels is defined as the product of the base relations of the car to the size of the gauge wheels and the relationship of the difference between the linear speeds of the pair of wheels, which are used to determine the velocity of the centre of mass to the speed of the center of mass.

If the magnitude of the longitudinal acceleration of the center of mass exceeds the upper is whether the lower border of the acceleration, the value of the rotation angle of the steered wheels define zero, and the velocity of the center of mass of the vehicle, override as equal to one of the linear velocities of rotation of the wheels is equipped with serviceable sensors frequency of rotation of the wheels, if the module of the difference between the rotation speed of the wheels at the current step and the velocity of center of mass in the previous step are the least of the many wheels, equipped with serviceable sensors frequency.

The longitudinal acceleration of the center of mass override as the ratio of the difference between the detected speed of the center of mass and the velocity of center of mass in the previous step to the magnitude calculation step.

If the magnitude of the longitudinal acceleration of the center of mass exceeds the upper or lower limit of acceleration, which is defined as the maximum and minimum acceleration acceleration and deceleration based on the type of actuator, the distribution of the weight on the driving wheels, the parameters of the braking system, the base car and the maximum values of the coefficients of sliding friction wheels at the current time, the longitudinal acceleration override as maximum or minimum depending on which of the limits is exceeded.

The longitudinal velocity of the center of mass, in this case, is defined as the sum of the longitudinal velocity of the center of mass in the previous step and the works of the longitudinal acceleration in the calculation step.

The path passed CE is the center of mass, determined by integrating the longitudinal velocity of the center of mass of the trapezoid method.

The values of velocities of longitudinal sliding of the wheels is defined as the difference between the linear speeds of the wheels and the longitudinal velocity of the center of mass and the addend is equal to the alternating product of the longitudinal velocity of the center of mass, rotation angle of the steered wheels, half gauge wheels divided by the size of the car. Mark works negative for the wheels of the left side and positive for the wheels of the right side of the car.

The value of the lateral acceleration of the center of mass of the vehicle andqdetermine the equation of centripetal force as the ratio of the product of the square of the longitudinal velocity of the center of mass and the rotation angle of the steered wheels to the base value of the car.

Temperatures overheating tyres ΔTicar is determined by numerical integration of the differential equation of the first law of thermodynamics with the identified factors and the measured linear velocity of rotation of the wheels and the speed of longitudinal sliding of the wheels.

Values of thermal components of the pressure ΔPTigas or mixture of gases in a vehicle tire is determined in accordance with equation of law of Charles for isochoric processes as the works of initial values giving the program the tire on the reheating temperature of the tire to the ambient temperature in degrees Kelvin.

The values of pressure Pigas or mixture of gases in the tires of the vehicle is defined as a numerical solution of systems of differential equations pressures, which lead to the sum of the nominal pressure, the pressure difference from the nominal value, thermal component of the pressure in the tire.

Values nominal pressure set constant for tires front and rear wheels, the values of thermal components of the pressure is defined as the result of solving the system of equations heating of the tires described above.

The variance of the pressure variation from nominal is defined as the result of solving the system of equations of rotation of the wheels relative to the speed of the longitudinal sliding of the wheels. The values of velocities of longitudinal sliding of the wheels are in the form of the sum of the true velocities of the longitudinal slides and speeds pseudosolenia, which is defined as the product of cost variances pressures of the nominal value and the angular velocities of rotation of the wheels.

Deviations pressure is defined as the ratio of the product of the velocities of the longitudinal sliding of the wheels and the radii of the wheels to the speed of the center of mass when the vehicle restrictions on the amount of non-negative longitudinal acceleration of the center of mass and the unit rate of the rotation angle of the steered wheels. Limiting the acceleration set from the condition of equality to zero of the true velocities of the longitudinal skidding pad is of leading wheels.

To reduce the effects of noise measurements of angular velocities of rotation of the wheels on the results of calculations of the deviations of the pressure values of the deviations of pressure filtered using low-pass digital filter of the received values to determine the smallest and override the values of the deviations of pressure as the difference between pre-calculated values and the lowest deviation value.

When executing assumptions about the existence of at least one wheel zero pressure deviation from the nominal gain values of the pressures that coincide with their true values.

More accurate values of the radii of the wheels RCi(0) at zero pressure and the values of wear cords ΔRkityres define in configuration mode pressure, which is set by entering configuration commands NT=1 when the true values of the variance of pressure from nominal values close to zero.

More accurate values of the radii of the wheels determined numerically as the difference between the original values of the radii of the wheels and the calculated values of the deviations of pressure from nominees.

Values of wear to the cords of the tire is defined as the sum of the difference of the adjusted values of the radii of the wheels and the values of the radii of the new wheels and the difference of the depth of the tread of the new tire and the current values of the depth of the tyre tread.

The values of the modules coaxial ties |dxi| sensors frequent the t of rotation of the wheels and magnets on the rim is defined as the solution of the equilibrium equations of the amplitudes of the voltage pulses of the speed sensors of the wheels and the voltage threshold detection device the signals at the input ports of the microprocessor.

The dependence of the amplitude of the pulses from the linear sensors of the wheel speed and magnitude of misalignment present a curve of type "curl of Agnesi" with the identified factors.

Identification of the current values of the physical state variables of the controls of the vehicle, in particular, non transfer U1Transmission, throttle position motor U2and control the brake system U3perform as a solution to the inverse dynamics of longitudinal vehicle movement with the identified parameters and the measured longitudinal speed and the longitudinal acceleration of the center of mass.

To solve the problem of identifying the position of the controls of the vehicle is calculated traction acceleration as the solution of the equation of longitudinal motion of the center of mass with a known acceleration andmlongitudinal velocity Vm, pressure P1, R2, R3, R4and identified by the values of kTr, kX, mo.

If ampositive, then determine the values of control actions on the throttle U2as the ratio of the traction speed up to the highest traction accelerations developed for each transfer gearbox.

For values of U2satisfying the constraints on the measurement range is on the U 2determine the values of the highest speeds on the respective gearbox works as maximum speeds in the gears and the corresponding value U2. The number value transfer U1CPR is defined as the smallest set of transmission, for which the greatest speed exceeds the speed of the center of mass of Vmand for transmission with manual control optional monitor compliance of conditions of stability of the acceleration at the highest value of U2. If these conditions are not met for at least one of transmission or, if amis negative, then the current value of U1define equal to the previous value.

The value of U2defined as the result of solving equation traction acceleration of the engine with the known values of Vmand U1. If the solution for U2does not exist, then the value of U2set the lower limit of the range U2and the condition of the transmission is defined as neutral.

The control value U3the brake system is defined as the ratio of negative work values traction and acceleration of the total mass of the vehicle to the sum of the gains of the wheel brakes, if the transmission is in the neutral state, and equal to zero otherwise.

The values of the maxima is lnyh coefficients of sliding friction wheels set in the setting mode of the vehicle depending on the brand of tire, pavement conditions, time of year etc.

In the case of the healthy state of the sensors of rotation of the driving wheels of the identification of the current values of the maximum coefficients of sliding friction of the wheels perform for rear-wheel or front-wheel drive car as the solution of the equation traction acceleration defined by the forces of sliding friction wheels, relative to the coefficients of sliding friction. The dependence of the coefficients of sliding friction and the magnitude of slip approximate the piecewise-linear function of the maximum coefficient of sliding friction.

The maximum values of the coefficients of sliding friction is defined as the solution of one linear equation approximation when measured slides.

The maximum values of the coefficients of sliding friction driven wheels is determined equal to the corresponding coefficients of the leading wheels of the same side.

To reduce the effects of noise measurements slides wheels and traction acceleration on the results of the identification filter the obtained maximum values of the coefficients of sliding friction using logic circuits control the reliability of the data on the ranges of values and ranges of the first and second proizvodi the X.

Identification number of the magnets Misensors on the rims of the wheels is accomplished by comparing the highest of the frequencies of the sensors with the values of each of the pulse frequencies of the sensors of frequency of rotation of the wheels.

The value of engine power, WEdefined as the product of the traction force, equal to the product traction and acceleration on the weight of the vehicle, the speed of longitudinal movement of the center of mass and the conversion coefficient values of engine power from watts to horsepower. The value of the toe angle of the steered wheels ψsdefined as the result of solving the equations of longitudinal motion of the center of mass on a horizontal surface in the neutral state of the transmission and zero control impact U3the brake system.

The value of volume of fuel used BRdefined as the solution of the energy balance equation with the identified parameters of energy conversion, the measured power of the engine of WEtransmitted to the drive wheels, and a power of WXspent on private consumption.

Instantaneous values of the specific fuel consumption BR(l/100 km) is defined as the sum of its parts work module traction force on the identified constant term, which is determined depending on the current transmission transmission parameters of the transmission, radii wheels, power idling of the engine and energy conversion efficiency.

The boundary values of the physical variables characterizing the hazardous condition of the vehicle, is determined as follows.

Boundary value of the longitudinal velocity of the center of massdefined as the smallest group of boundary velocities, including:

- upper limit of speed which can be set taking into account the rules of the road speed limits in towns, outside built-up areas and on motorways;

the upper border of the speed gap-ply tires with the values of wear cords, pressure and brands of tires;

the upper border of the speed of the spinning wheels, as measured by parameters of the vehicle and the road surface;

the upper border of the safe speed pass turn, defined as the minimum speed skidding of the rear wheels, the demolition of the front wheels and the speed of overturning of the vehicle;

the upper border of the safe speed with installed spare wheel (tokatkoy) of reduced diameter;

the upper border without what asnau speed, the additional angles of camber.

Boundary control value U3 gthe brake system is defined as the lowest of the boundary values of control actions for each of the wheels and units.

The boundary values of the control actions for each of the wheels is determined from the conditions block the wheels when braking as the ratio of the work vehicle weight per wheel, free-fall acceleration and maximum values of the coefficient of sliding friction wheel to the sum of the gain of the brake wheel and the alternating addend equals half the value of the maximum coefficient of sliding friction wheel, the dynamic radius of the wheel, the amount of gain brakes all wheels and reverse base value of the car.

The alternating component is positive, if the rear wheels, and is negative if the front wheels.

The boundary value of the braking deceleration possible without locking the wheels, determine the ratio of the work amount of gain brakes all wheels on the boundary of the control value for the brake system to the vehicle weight. Boundary value of the distance LSnecessary to a complete stop in front of a stationary obstacle, to determine the to the sum of the longitudinal velocity of the center of mass on the lag time of actuation of the brakes and relationships half of the square of the longitudinal velocity of the center of mass to the magnitude of the boundary of the braking deceleration.

The boundary is the distance between passing cars Lddefined as the difference between the distance LSand half of the square of the longitudinal velocity of the center of mass to the magnitude of the highest possible deceleration of the associated vehicle.

Limit value of the throttle position of the engine U2Gdetermine from the condition of the absence of unacceptable smoothly wheels is equal to the ratio of the boundary traction acceleration defined by the forces of sliding friction wheels, to the greatest traction acceleration developed by the motor at the current transmission transmission, if the ratio of the traction acceleration does not exceed one, and equal to one if the ratio of the traction acceleration exceeds unity.

The boundary values of the pressure of the gas or mixture of gases in a vehicle tire is determined in terms of the upper and lower boundaries. The upper boundary pressuresdefined as the lowest of the boundary values of pressure gap-ply tires and the highest pressure values for the permissible axial asymmetry pairs of wheels.

The lower boundary pressuredefined as the higher of boundary values of pressure turning the tire on the rim and lowest pressure values for the permissible axial asymmetry pairs of wheels.

Indication of prognozirovanie boundary values of physical variables perform in those cases, when the predicted values of the physical variables exceed the boundary values of the physical variables characterizing the critical condition of the car.

Thus, the indicator exceeding the limit speed trigger, if the predicted value of the longitudinal velocity of the center of mass exceeds the projected edge speed.

The indicator exceeding the boundary values of the pressures in the tires activate if the pressure in one or more tyres exceeds the upper limit of the pressure in these tires or if the pressure in one or more tires are less than the lower limit of the pressure in these tires.

The indicator of excess temperature overheating tyres activate if the temperature of the overheating of one or more tyres exceeds the constant boundary value reheating temperature, which is set in the setup mode.

The indicator exceeding the limit values of longitudinal sliding of the wheels activate if the unit longitudinal sliding of one or more of the wheels exceeds a limit value, longitudinal slip, which is set in the setup mode.

Displays the values of the physical variables and their boundary values perform in pairs for velocities of center of mass, rotation angles of the steered wheels and to control impacts on the throttle saslong and brakes.

As the initial display mode set the display mode of the boundary of the distances to the associated obstacles and the distance required to stop.

The control modes of the physical variables do to reduce the lag time between the time of activation indicate dangerous conditions and display the values of physical variables that exceed the boundary values of the critical States.

So, switching to the display mode of the velocity of the center of mass and its boundary values of the initial mode perform when subjected to press the button under the indicator exceeding a safe speed in one step. The mode display pressure gas or mixture of gases in the tires of the vehicle from the initial display mode is performed by pressing the key below the indicator exceeding the boundaries of pressures, also in one step.

The mode display temperature overheating of the tire from the initial display mode is performed by pressing the key below the indicator exceeds the threshold value for the temperature of overheating, also in one step.

Formation of control actions on the throttle, brakes and steering wheel switches to reduce the time of stay of the vehicle in a dangerous status is s, creating the danger of collisions with obstacles.

Hazardous technical fault detect in the early stages of their development, which allows to increase the time interval for selection of an emergency stop, not a danger to traffic.

Example.

As an example, front-wheel drive car with parameters: a=1.43 m, b=2.58 m, kX=0.52H·c2·m-2, mO=1240 kgRC1(0)=302.25 mm, RC2(0)=301.00 mm, RC3(0)=301.20 mm, RC4(0)=300.08 mm, hP1=7.5 mm, hP2=6.5 mm, hP3=7.5 mm, hP4=6.9 mm, hP1H=8.0 mm, hRn=8.0 mm, RC1H(0)=302.00 mm, RC13H(0)=301.00 mm k31=k32=3600H, k33=k34=700H, kED=3.9, kP(1)=3.309, kP(2)=2.05, kP(3)=1.367, kP(4)=contains 0.946, kP(5)=0.732, WFE=76 PS hm=0.7 m,

entered in the configuration mode.

Imagine the actual path L1(t), trip 1-m wheel, from time t in the form of analytical functions:

that corresponds to the case of rotation of the wheels with a constant velocity V1(0) on the time interval (0÷t1and rotation with constant acceleration a1on the time interval (t1÷t2).

The true speed of V1(t) is changed in accordance with what anoniem:

True incremental path ΔL1(k)=L1(k)-L1(k-1) in discrete moments of time t=tk=kΔT, ΔT=1C are at Vi(0)=14 m·c-1, t1=10 c, t2=15 c, a1=1m·-2respectively ΔL1(1)=ΔL1(2)=...=ΔL1(10)=14 m, ΔL1(11)=14.5 m, ΔL1(12)=15.5 m, ΔL1(13)=16.5 m ΔL1(14)=17.5 m ΔL1(15)=18.5 m

True values of the rotational speed of V1(t) at discrete points in time are: V1(1)=V1(2)=...=V1(10)=14m·c-1V1(11)=15 m·-1V1(12)=16 m·-1V1(13)=17 m·c-lV1(14)=18 m·c-lV1(15)=19 m·c-l.

The calculated radius of the wheel RC1when RC1(0)=302.25 mm, P1H=2 bars, ΔPT1=0.10 bar, mT=7 kg, lT=175 mm, V1(k-1)=14 m·-1, kP=1 mm·bar-1is 304.48 mm

The number of pulsesthe sensor is determined using linear interpolation in the beginning and end of the step of computing ΔT=1, is when M1=2, respectively:

The computed C is achene increments of the path is equal to:

ΔL1(1)=ΔL1(2)=...=ΔL1(10)=14.000 m ΔL1(11)=14.499 m ΔL1(12)=15.500 m ΔL,(13)=16.499 m ΔL1(14)=17.500 m ΔL1(15)=18.499 m

The calculated values of the acceleration of the wheel is:

and1(1)=a1(2)=...=a1(10)=0.000 m·-2and1(11)=0.499 m·-2and1(12)=1.001 m·-2,

and1(13)=0.999 m·-2and1(14)=0.001 m·-2and1(15)=0.999 m·-2.

The calculated values of the rotation speed when the sampling frequency of the microcontroller ports fc=5000 Hz is equal to:

V1(1)=V1(2)=...=V1(10)=m·-1V1(11)=14.748 m·-1,

V1(12)=16.000 m·-1V1(13)=16.998 m·-1V1(14)=18.000 m·-1V1(15)=18.998 m·-1and the same, within a drop least significant bits, with the true values of rotational speed, in addition to V1(11) at the time of change of acceleration from zero to 1 m·-2. Similarly calculate the speed of all other wheels.

The longitudinal velocity of the center of mass Vmthe rotation angle of the steered wheels ψc, speed of longitudinal sliding of the wheels ΔVS1that ΔVS2that ΔVS3that ΔVS4longitudinal andmand transverse andqacceleration of center of mass and distance traveled Lmcalculated by n gennym value of the rotational speeds of the wheels V 1V2V3V4.

Suppose that V1=14.000 m·c-1; V2=13.706 m·-1; V3=14.000 m·-1V4=13.692 m·-1. The half-sum of the speeds of rotation of the axial and diagonal pairs of wheels is equal to:

0.5(V1+V2)=13.853 m·-1; 0.5(V3+V4)=13.846 m·-1;

0.5(V1+V4)=13.846 m·-1; 0.5(V2+V3)=13.853 m·-1;

Modules difference Polycom rotational speeds of the pairs of wheels and the speed of the center of mass of Vm(k-1) at the previous step, equal 13.846 m·-1are:

E12=0.007 m·-1E34=0.000 m·-1E14=0.000 m·-1E23=0.007 m·-1.

The minimum value of the modulus of the difference corresponds to a pair of wheels 3,4 (E34=0.000 m·-1).

The calculated value of the velocity of the center of mass of Vm=13.846 m·-1, longitudinal acceleration andm=0.000 m·-2and the rotation angle of the steering wheels ψc=0.040 radians.

The speed of longitudinal sliding of the wheels are:

ΔVS1=0.000 m·-1that ΔVS2=0.013 m·-1that ΔVS3=0.000 m·-1that ΔVS1=0.000 m·-1.

Lateral acceleration of the center of mass andq=2.972 m·-2and the path Lm(k)=1013.846 m with Lm(k-1)=1000.000 m

The calculated value of the temperature of the overheating of tires for steady-state motion with a constant velocity of the center of mass of V m=13.846 m·-1that ψwith=0.040 radians andwhen identified, the heat transfer coefficient tireso≈50 W·deg-1are:

ΔT1(k)=13.7 deg C, ΔT2(k)=13.9 deg C, ΔT3(k)=8.4 deg C, ΔT1(k)=8.2 deg C.

The calculated thermal components of the pressure at an ambient temperature of 0 deg C is:

ΔPT1=0.10 bar, ΔPT2=0.10 bar, ΔPT3=0.06 bar, ΔPT4=0.06 bar.

The calculated pressure deviation from nominal, when am(k)=0.0 m·-2equal to:

ΔP1(k)=0.00 bar, ΔP1(k)=0.28 bar, ΔP3(k)=0.00 bar, ΔP4(k)=0.00 bar.

The values of the pressures in the tires are:

P1(k)=2.10 bar, P2(k)=1.82 bar, P3(k)=2.06 bar, ΔP4(k)=2.06 bar.

In configuration mode pressure (NT=1) when the true variance of pressure, equal to zero, pereprodaetsya the value of RC2(0)=300.72 mm, and the wear to the cords of the tire to be determined is equal to: ΔRk1=0.75 mm, ΔRk2=0.50 mm, ΔRk3=0.70 mm, ΔRk4=0.18 mm

Identification of the maximum values ofcoefficient of sliding friction wheels will consider for the case:

V1(k)=15.883 m·c-1V2(k)=15.620 m·c-1V3(k)=15.500 m·c-1V4(k)=15.160 m· -1,

Vm(k)=15.330 m·-1andm(k)=1.0 m·-2that ψC(k)=0.04 radian. The speed of longitudinal sliding of the wheels ΔVS1=0.383 m·-1that ΔVS2=0.460 m·-1the slip S1=0.025, S2=0.030. To plot a piecewise linear approximation when 0<Si≤0.16

At Vm=15.0 m·c-1, am=1.0 m·-2identified values U1=3, U2=0.845, U3=0.00, the calculated values of engine power and instantaneous fuel consumption, respectively 31.2 PS and 22.35 l/100 km

At Vm=15.0 m·-1and am=0.0 m·-2identified values U1=3, U2=0.467 and U3=0.00, values of engine power and specific fuel consumption are 5.67 PS and 6.07 l/100 km

The values of the boundary speed for the condition of the car, in particular, Vm=15.0 m·-1andm=1.0 m·-2that ψwith=0.04 radian is:

The minimum value of and the predicted value of Vmwhen τe=1 is 16.0 m·-1that causes activation of the indicator exceeding a safe speed.

Upper and lower limits of pressure in the tires when valid asymmetry of 0.2 bar is equal to:

At values of P1=2.10 bar, R2=1.82 bar, P3=2.06 bar, P4=2.06 bar record the excess of the upper limit of the pressure in the first bus and the lower limit of the pressure in the second bus, which causes activation of the indicator hazardous pressure values.

The limit values of the temperature of the overheating of the tire 80 deg C and slides wheels 0.16 exceeding the bounds of the temperature of the overheating of the tire and the longitudinal sliding of the wheels does not occur and the indicators of dangerous temperatures and slides are not activated.

Boundary control value for the brake system U3 g=0.584. The maximal braking deceleration aT=4.05 m·-2.

The magnitude of the edge distance required to stop when the τm=0.8 C is LS=27.8 m is the boundary Value of the distance to the associated vehicle when the CR=10 m·-2equal to Ld=16.5 m Boundary control value on the throttle when driving in 3rd transfer U2G=1.0.

The sequence of actions of the driver in this case is reduced to decrease a control action on the throttle, resulting in reduction of the longitudinal acceleration andmfor example, to zero for U2≈0.467. In this case, the predicted value of Vmthe next step will be equal to 15.0 m·-1and the border of the safe speed when ψc=0.04 radian will remain at the level of 15.5 m·-1indicator exceeding a safe speed go in out-of-tolerance condition.

Impact on key logically grouped with activated indicator of dangerous pressure will cause the mode to display the values of the pressures in the tires. Estimating the values of the pressures and dynamics of their changes, the driver can continue driving to a safe place for an emergency stop.

1. The way to prevent vehicle collisions with obstacles by registering the pulses generated by the sensors of the primary information about the physical variables that characterize the state of the vehicle, and transmitting them to the processing unit, which determines the boundary values of the physical variables, the characteristics of arisawa critical state of the vehicle, if he is a danger to traffic, creating the threat of collisions with obstacles, characterized in that register the pulses generated by the sensors of the rotation speed of the wheels, which are used as probes of the primary information about the physical variables that characterize the state of the vehicle, and serves on the input of the processing unit, in which the values of the speeds of the wheels to determine in real time the values of the physical variables that characterize the state of the vehicle, and the boundary values of the physical variables at the output of the processing unit information form the information signal on the approximation of the physical variables that characterize the state of the vehicle, to the boundary values or exceeded and transmit visual information display and at least one means for indicating dangerous conditions that activate in accordance with the generated signal, depending on the values of physical variables and boundary values of the physical variables that characterize the state of the vehicle, generate a signal with a control action to prevent the collision of the vehicle with the obstacle.

2. The method according to claim 1, characterized in that the processing unit pulses generated by the sensors of the rotation speed of the wheels, obrabecim the Ute with the ability to determine in real time the values of the speeds of the wheels of the values of physical variables and boundary values of physical variables, characterizing the condition of the car, and select the appropriate means of indicating dangerous conditions for transmission of the corresponding generated signal about the dangerous condition of the car.

3. The method according to claim 1, characterized in that the processing unit pulses generated by the sensors of the rotation speed of the wheels, handle with the ability to identify the state of the sensors of frequency of rotation of the wheels and offset the impact of their failures on the results of determining in real time at speeds of wheels of the values of physical variables and boundary values of physical variables characterizing the condition of the car.

4. A system for preventing collision of the vehicle with obstacles that contains the sensors of the primary information about the physical variables that characterize the state of the vehicle, connected through communication lines with the processing unit, determining the boundary values of the physical variables characterizing the critical state of the vehicle in which he is a danger to traffic, creating the threat of collisions with obstacles, and including a microprocessor connected to the means for displaying information, characterized in that it includes as primary sensors information about the physical variables, characterizes the x state of the vehicle, gauges of frequency of rotation of the wheels, said line connection connected to the microprocessor, the processing unit further includes at least one connected to the microprocessor input tool configuration data and management information modes and at least one means for indicating dangerous conditions, the microprocessor is configured to identify the state of the sensors of frequency of rotation of the wheel, determining in real time the values of the speeds of the wheels of the values of physical variables characterizing the state of the vehicle, the boundary values of physical variables and signal with information about the approximation of values of the identified physical variables to the boundary values or exceeded.

5. The system according to claim 4, wherein the microprocessor is configured to compensate for the effect of sensor faults of the frequency of rotation of the wheels on the results of determining in real time the values of the speeds of the wheels of the values of physical variables characterizing the state of the vehicle, and the boundary values of the physical variables.

6. The system according to claim 4, wherein the microprocessor is configured to determine in real time the values of the speeds of the wheels of the values of physical variables characterizing the state of AB is mobile, and boundary values of physical variables, and generating the signal with information about the approximation of values of the identified physical variables to the boundary values or exceeded, identify the state of the sensors of frequency of rotation of the wheels and compensation of sensor faults of the frequency of rotation of the wheels on the results of determination of the values of physical variables characterizing the state of the vehicle, and the boundary values of the physical variables.



 

Same patents:

FIELD: automotive industry.

SUBSTANCE: device comprises unit for measuring absolute velocity of a vehicle, differentiator, unit for computing safety distance between the vehicles, comparator, actuating members of the breaking system and system for engine control, locator, unit for determining steady deceleration of vehicle, unit for determining brake delay, memory, unit for determining correction to the safety distance, unit for measuring absolute velocity, and pressure gages in the drive for brakes and beginning of braking. The comparator sends a command to the unit for determining the rotation angle of controlled wheels that sends a signal to the electromagnetic valve of the control of actuating member of the steering.

EFFECT: expanded functional capabilities.

1 dwg

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

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

FIELD: automotive industry.

SUBSTANCE: device comprises unit for measuring absolute velocity of a vehicle, differentiator, unit for computing safety distance between the vehicles, comparator, actuating members of the breaking system and system for engine control, locator, unit for determining steady deceleration of vehicle, unit for determining brake delay, memory, unit for determining correction to the safety distance, unit for measuring absolute velocity, and pressure gages in the drive for brakes and beginning of braking. The comparator sends a command to the unit for determining the rotation angle of controlled wheels that sends a signal to the electromagnetic valve of the control of actuating member of the steering.

EFFECT: expanded functional capabilities.

1 dwg

FIELD: transportation, safety arrangements.

SUBSTANCE: in suggested method impulse signals from wheels rotational velocity sensors are recorded and inputted to data processing unit. Values of physical variables defining vehicle condition and limit values of physical variables are determined in real time according to values of wheel rotational velocities. At the output of data processing unit, signal is generated which contains information about approximation of physical variables defining vehicle condition to limit values or about exceeding the limit values. Depending on physical variables values and limit values of physical variables defining vehicle condition, the signal with control action preventing vehicle contact with obstacle is generated. Suggested system contains wheels rotational velocity sensors. Data processing unit includes microprocessor being able to identify the operative conditions of wheels rotational velocity sensors, to determine in real time the values of physical variables defining vehicle condition and limit values of physical variables according to values of wheels rotational velocities, and to generate signal containing information about approaching of mentioned values of physical variables to limit values or exceeding limit values.

EFFECT: group of inventions allows preventing typical collisions.

6 cl, 3 dwg, 1 ex

FIELD: automotive industry.

SUBSTANCE: invention relates to automotive industry and can be used as an automatic braking system. Proposed braking system comprises monochromatic oscillation generator, power amplifier, directional radiator, radiation receiver, narrow-band amplifier, two shapers of rectangular pulses, two integrators, comparator, current amplifier and electromagnetic drives. Power amplifier is connected with generator, radiator and pulse shaper connected to integrator, the output of the latter being connected to comparator input. Narrow-band amplifier is connected with receiver and 2nd shaper of rectangular pulses, connected to 2nd integrator. Output of the latter is connected to the 2nd input of comparator. Comparator output is connected to current amplifier, the output of which is connected to electromagnetic drive linked up with the brake drive.

EFFECT: increased speed of brake system operation.

5 dwg

FIELD: physics; control.

SUBSTANCE: invention relates to transport engineering and specifically to anti-collision systems for automobiles moving in a traffic stream. The method of ensuring active safety of transportation vehicles moving in a file involves availability of a system which has two antennae, two modulators, two power amplifiers, a mixer, a frequency converter, a detector, first and second speed detectors, range detector, a device for calculating dangerous distance, ground speed and approach speed, a continuous oscillation generator, an adder, circulator, Doppler filter and a comparator. The system has an antenna position control circuit, a first actuating circuit whose output is connected to a sound source, a second actuating circuit whose output is connected to a throttle valve, a third actuating circuit whose output is connected to the control unit of the antiskid system of the service handbrake system of the vehicle, a fourth actuating circuit whose output is connected to a light indicator.

EFFECT: more efficient control of speed of objects in a traffic stream.

1 dwg

FIELD: transport.

SUBSTANCE: set of invention relates to road traffic safety. In compliance with this invention, set of acceleration magnitudes for target vehicle is defined proceeding from input values derived from determined distances between vehicle and target vehicle (moving ahead and behind of it). Accelerations are further processed to obtain data describing said target vehicle. Said data is transmitted for adjustment of vehicle driving.

EFFECT: higher safety thanks to better adaption to target vehicles.

21 cl, 9 dwg

FIELD: transport.

SUBSTANCE: set of invention relates to traffic safety, particularly, to detecting moving object (transport facility or pedestrian) crossing transport facility trajectory or approaching it. Video cameras secured on transport facility shoot front or rear zone to display traffic situation therein on driver display. Front lateral or rear lateral zones are shot on operation of turn light indicator, or in turn of controlled wheels, or by voice command, or by activation of video camera switch-on push button. Marks describing transport facility boundaries on entering the road or after possible maneuver are displayed in additional window on display screen or over traffic situation image. This allows the driver to define distance to (between) object(s) that hinder possible maneuver. Set of inventions allows perfecting visual control in front lateral or rear lateral zones of transport facility motion.

EFFECT: higher safety.

2 cl, 7 dwg

FIELD: physics.

SUBSTANCE: apparatus has a first image input device (IID) and a system controller (SC). The apparatus further includes five electro-optical sensors (EOS), second, third and fourth IID, two blur compensating devices (BCD), a liquid-crystal display and an audio signalling device. The first and second EOS are installed with possibility of obtaining images of the scene in front of the vehicle, while the third and fourth EOS are installed with possibility of obtaining images of the scene behind the vehicle, and the fifth EOS - with possibility of obtaining images of the eyes of the driver. The IID are connected to outputs of the corresponding EOS and are configured to perform intermediate storage of the obtained image data. The first and second BCD are connected to outputs of the first and second IID, respectively, and are configured to increase clearness of the obtained image and detect moving objects. The SC is connected to outputs of the first and second BCD, the third and fourth IID, the fifth EOS and the speed sensor of the vehicle. The SC enables to select contours on the images, detect fixed objects thereon, determining their three-dimensional coordinates on pairs of stereo-images and the motion path from the change in three-dimensional coordinates of objects and detecting obstacles. The audio signalling unit and the liquid-crystal display are connected to corresponding outputs of the SC.

EFFECT: apparatus provides automatic notification of the driver on possible collision of the vehicle with an obstacle, possibility of analysing the condition of the driver in order to prevent sleeping behind the wheel.

1 dwg

FIELD: physics.

SUBSTANCE: optical radiation from vehicles moving on the same and opposite lanes is simultaneously received at a car; said optical radiation is converted to electric signals; the distance to vehicles on the same and opposite lanes is calculated; the approach speed of said vehicles is calculated; geometric dimensions of the vehicle moving in the same direction are determined. Based on said information, light signalling is issued to keep a safe distance from the vehicle in front and on possibility of overtaking in conditions when there is a vehicle in the oncoming lane. Also the maximum acceleration of the car given its current load and technical condition is determined; the longitudinal slope of the road is determined; the possibility of safe overtaking the vehicle in front is determined based on the distance travelled over the overtaking time. During overtaking, conformity of the current values of acceleration, speed of the overtaking car and distance to an oncoming vehicle with calculated is monitored and a light and audio signal is emitted to prevent overtaking if there is risk of collision, and also on a dangerous distance to the vehicle in front, based on the slope of the road.

EFFECT: group of inventions increase reliability of evaluating safety of overtaking and selecting a safe distance to the vehicle in front by taking into account such additional factors as slope of the road surface, the current and maximum possible acceleration of the car given the current load.

2 cl, 2 dwg

FIELD: transport.

SUBSTANCE: method includes synchronisation of reference transmitters clocks, measuring time of radio signal run from antennas of three and more reference transmitters located at distance from transport facilities (TF) and pedestrian to antenna of radio navigation device located on TF or pedestrian, calculation of TF and pedestrian coordinates using computing device, transmission of TF and pedestrian coordinates data and their identification numbers to information computer centre via radio channel, and transmission of alert signals to road users. Radio masts with reference transmitters are installed along roadway in fixed points with known three-dimensional coordinates of antennas. Reference transmitters clock synchronisation with the clock of information computer centre is performed via existing between them optical carrier. Digital road map is created by means of splitting roadway into pixels with known three-dimensional coordinates, with indication of coordinates and meanings of road signs and traffic lights. On TF, two radio navigation devices mutually spaced along TF longitudinal axis are installed, and from their continuously measured three-dimensional coordinates and digital road map the TF position relative to axial line of roadway is determined at any moment.

EFFECT: invention provides higher traffic safety.

8 cl, 2 dwg

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