Method of ensuring active safety for transportation vehicles moving in file

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

 

The invention relates to transport machinery and can be used mainly as a sensor collision warning system of the vehicle when driving in traffic or control movement of the column, to increase the effectiveness of the braking process of a vehicle equipped with, for example, anti-lock braking system and in other cases. It is known device [RF Patent №2161814 C1 IPC G05D 1/02, UK 31/00, G08G 1/16, 2001], which contains device tracking ahead of the traveling vehicle, equipped, for example, device effects on the brake system of the vehicle. The disadvantage of such devices is obvious - when false positive occurrence of an emergency.

Closest to the proposed solution is a system for preventing collision of vehicles in the convoy [RF Patent №2292564 C2, IPC G01S 13/93, 2006], which contains an antenna, a modulator, a first amplifier, a mixer, a frequency Converter, the detector, the first and second recorders speed, the Registrar-range and the transmitter dangerous distance in distance, ground speed and rate of convergence, the generator of a continuous oscillation, a second amplifier, adder, a circulator and a filter Doppler frequency, and the generator output continuous fluctuations connected with WMO the om modulator, the first input of the mixer and the input of the second amplifier, the output of which is connected to the first input of the adder, a second input connected to the output of the first amplifier, an input connected to the output of the modulator, the output of the adder is connected to the second input of the circulator, the first input connected to the antenna, and the output to the second input of the mixer, the output of which is connected to the inputs of the frequency Converter and filter the Doppler frequency, the output of which is connected to the input of the second Registrar speed, the output of which is connected to the first input of the transmitter dangerous distance in distance, ground speed and rate of convergence, the output of the frequency Converter through the detector is connected with the first inputs of the recorder range and the first Registrar speed, the output of the modulator is connected to the second inputs of the first Registrar speed and the Registrar of range, the output of which is connected to a second input of the transmitter dangerous distance in distance, ground speed and rate of convergence, the output of the first Registrar speed is connected to the third input of the transmitter dangerous distance in distance, ground speed and rate of convergence, the second output of the transmitter dangerous distance in distance, ground speed and rate of convergence associated with the input control circuit of the antenna, the first is th output of the transmitter dangerous distance range, ground speed and rate of convergence associated with the first input circuit, the output of which is connected to the sound source, and a third input of the second circuit, the output of which is connected with the throttle. The disadvantage of such devices is obvious - braking motor-brake system (auxiliary braking system) is small. The disadvantage of such systems in addition to this is that the sensor monitors the relative position between the nearest object column that does not allow to rationally respond to a change in the mode of motion of other objects in the column and does not allow the "leader" of the column to control the state of other objects of the column, which makes it difficult to make rational decisions on a high-speed mode, the movement of the column as a whole.

Technical task aimed at improving the efficiency of regulation of the speed of the objects of the transport stream by integrating with anti-lock braking system working brakes and the introduction channel exchange of parameters between objects of the column.

The technical result is achieved in that the system includes an antenna, a modulator, a first amplifier, a mixer, a frequency Converter, the detector, the first and second recorders speed, the Registrar-range and the transmitter dangerous distance range, paleoeconomy and speed of convergence, the generator of a continuous oscillation, a second amplifier, adder, a circulator and a filter Doppler frequency, and the generator output continuous oscillation is connected to the input of the modulator first input of the mixer and the input of the second amplifier, the output of which is connected to the first input of the adder, a second input connected to the output of the first amplifier, an input connected to the output of the modulator, the output of the adder is connected to the second input of the circulator, the first input connected to the antenna, and the output from the second input of the mixer, the output of which is connected to the inputs of the frequency Converter and filter the Doppler frequency, the output of which is connected to the input the second Registrar speed, the output of which is connected to the first input of the transmitter dangerous distance in distance, ground speed and rate of convergence, the output of the frequency Converter through the detector is connected with the first inputs of the recorder range and the first Registrar speed, the output of the modulator is connected to the second inputs of the first Registrar speed and the Registrar of range, the output of which is connected to a second input of the transmitter dangerous distance in distance, ground speed and rate of convergence, the output of the first Registrar speed is connected to the third input of the transmitter dangerous distance range, the track is karasti and speed of convergence, the second output of the transmitter dangerous distance in distance, ground speed and rate of convergence associated with the input control circuit of the antenna, the first output of the transmitter dangerous distance in distance, ground speed and rate of convergence associated with the first input circuit, the output of which is connected to the sound source, and a third input of the second circuit, the output of which is connected with the throttle, the system additionally introduced a third control circuit connected to the sixth output of the transmitter dangerous distance in distance, ground speed and rate of convergence, and the output of which is connected to the control unit anti-lock braking system braking system vehicle antenna data exchange between objects of the column, through which the output of the newly introduced second circulator is connected to the output of the second modulator and the input of the modulator is connected to the fifth output of the transmitter dangerous distance in distance, ground speed and rate of convergence, the comparator, which is connected to the output of the second circulator and the fourth output of the transmitter dangerous distance in distance, ground speed and rate of convergence, the fourth Executive scheme associated with the output of the comparator, and the output of the fourth circuit associated with the newly introduced light of the new alarm. The hallmark of the prototype is the fact that additionally introduced a third control circuit connected to the sixth output of the transmitter dangerous distance in distance, ground speed and rate of convergence, and the output of which is connected to the control unit anti-lock braking system braking system of the vehicle, the antenna data exchange between objects of the column, through which the output of the newly introduced second circulator is connected to the output of the second modulator and the input of the modulator is connected to the fifth output of the transmitter dangerous distance in distance, ground speed and rate of convergence, the comparator, which is connected to the output of the second circulator and the fourth output of the transmitter dangerous distance range, ground speed and rate of convergence, the fourth Executive schema associated with the output of the comparator, and the output of the fourth circuit associated with the newly introduced light signaling.

Comparative analysis of the proposed method with the existing technical solutions shows that it has several significant advantages: more effective regulation of speed of the transport stream by integrating with anti-lock braking system working brakes, and the introduction channel exchange of parameters between objects Colo the us.

On the drawing (figure 1) presents a functional diagram of a system implementing the method of providing active safety of vehicles when driving in a convoy.

The collision-avoidance system vehicle includes: a generator of a continuous oscillation 1, modulator 2, the first amplifier 3, an adder 4, a circulator 5, an antenna 6, a mixer 7, the frequency Converter 8, a detector 9, the Registrar of the range 10, the first Registrar of speed 11, the second amplifier 12, the filter Doppler frequencies 13, the second Registrar speed 14, evaluator dangerous distance in distance, ground speed and rate of closure 15, the circuit 18 controls the position of the antenna, the first 16 and second 17, 19 third and fourth 22 Executive scheme, the modulator 20 and the circulator 21 antenna 23 data exchange between objects of the column, the comparator 24.

The output of the generator 1 continuous oscillation is connected to the input of the modulator 2, the first input of the mixer 7 and the input of the second amplifier 12, the output of which is connected to the first input of the adder 4, a second input connected to the output of the first amplifier 3, an input connected to the output of the modulator 2, the output of the adder 4 is connected with the second input of the circulator 5, the first input connected to the antenna 6, and the output from the second input to the mixer 7, the output of which is connected to the inputs of p is OBRAZOVATEL frequency 8 and filter Doppler frequencies 13, the output of which is connected to the input of the second Registrar speed 14, the output of which is connected to the first input of the transmitter 15 dangerous distance in distance, ground speed and rate of convergence, the output of the frequency Converter 8 through the detector is connected with the first inputs of the recorder 10 range and the first Registrar speed 11, the output of the modulator 2 is connected to the second inputs of the first Registrar speed 11 Registrar 10 range, the output of which is connected to a second input of the transmitter 15 dangerous distance in distance, ground speed and rate of convergence, the output of the first Registrar speed 11 is connected to the third input of the transmitter 15 dangerous distance range, ground speed and speed of convergence, the input circuit 18 controls the position of the antenna associated with the second (II) output of the transmitter 15 dangerous distance in distance, ground speed and rate of convergence, the first (I) output of the transmitter 15 dangerous distance in distance, ground speed and rate of convergence associated with the first 16 Executive scheme, the output of which is connected to the sound source, the third (III) with the second input 16 of the circuit, the output of which is connected with the throttle, the fourth (IV) - to the first input of comparator 24, a second input connected to the output of the circulator 21 and the output from the fourth 22 Executive diagram, o is d which is connected with signalling, the fifth (V) output of the transmitter 15 dangerous distance in distance, ground speed and rate of convergence associated with the modulator 20, the output of which through the comparator 21 is connected with the antenna 23 data exchange between objects of the column and the sixth (VI) with a third 19 Executive scheme, the output of which is connected to the control unit ABS.

The system works as follows.

The generator of the continuous fluctuations of 1 generates a continuous oscillation frequencies arriving at the same time:

- on the modulator 2, in which the radio pulses, amplified in the first amplifier 3 is input to the adder 4, and with him through the circulator 5 are radiated through the antenna 6 in the space;

- on the first heterodyne input of the mixer 7, the second input of which is supplied via the antenna 6 and the circulator 5, the signal reflected from obstacles;

- the input of the second amplifier 12, the output signal of which is through the adder 4, the circulator 5 and the antenna 6 is also radiated into space.

Thus, the antenna 6 is simultaneously radiated into space pulse and continuous signal. The signal at the output of mixer 7 carries information about the distance to the obstacle and ground speed, if the beam pattern of the antenna 6 irradiates the obstacle in front of the car, and the side lobe of the antenna beam touches the earth's surface.

Measuring the distance to the obstacle and the speed of convergence with him after the mixer 7 is a frequency Converter 8, the output of which the signal into the detector 9, is fed to the first inputs of the recorder range 10 and the first Registrar speed 11, the second input of which receives the impulses generated in the modulator 2.

The first Registrar of speed 11 outputs information to a third input of the transmitter dangerous distance in distance, ground speed and rate of convergence 15, in which the rate of convergence of the vehicle with the obstacle is calculated as the rate of change of the range increment of time dt, so

From the recorder 10, the signal at the second input of the transmitter dangerous distance in distance, ground speed and rate of closure 15.

Assessment of ground speed is carried out by the selection signal formed after the mixer 7, and then filter the Doppler frequency 13 using the second Registrar speed 14.

Numerically the magnitude of the ground speed of the vehicle Vamdirectly proportional to the Doppler frequency Fdand at a certain wavelength of the radio signal is λ, and the angle α of the radiation antenna of the road surface is dependencies

where

Thus, the output of the second Registrar speed 14 the signal at the first input of the transmitter dangerous distance in distance, ground speed and rate of closure 15, the second input signal comes from the output of the Registrar speed 10 and the third input signal comes from the output of the first Registrar speed 11, and the output of the transmitter 15 is instructed by the Executive scheme 16 audible indication, in the absence of the reaction (the reduction of the fuel supply, braking) and the reduction of the distance Rtechrelatively constantly dangerous calculate distances Rtorserved point on the circuit 17 controls the throttle and 19 associated with the control unit ABS. When this braking performance braking system is limited to 30% of its maximum value, which allows to adequately respond to the driver of the vehicle, as well as neighboring flow of vehicles not equipped with such systems.

The transmitter dangerous distance in distance, ground speed and rate of convergence 15 performs the calculation and at its output a signal command when reaching dangerous distances Rtori.e. between the vehicle and there are obstacles (moving or stationary), while about Voditsa the analysis of the three current values:

1) ground vehicle speed (over ground) - Vam;

2) the speed of convergence with the constraint VSBL,

3) the current distance to the obstacle Rtech.

The critical values of these quantities are evaluated in the following situations:

1) the car is moving toward a stationary or counter-moving obstacles;

2) the car moves in the flow, in which all vehicles are moving in the same direction with the same speed;

3) the car moves in the flow, in which part of the vehicles moving in the opposite direction.

When the vehicle is moving in the direction of a stationary obstacle or a hurdle, moving counter, calculation of hazardous distances Rtop1produced by the classical formula; dangerous distance depends on the speed of convergence of the vehicle with an obstacle VSBLtime of actuation of the brake actuator t1, rise time acceleration t2, tyre grip with the road surface v, the magnitude of the slope i, coefficient operating conditions the brakingeas follows:

When used for calculations computing the coefficients characterizing the state of the brake system of the vehicle and the road surface, can be set programmatically.

When driving in the thread in which all vehicles are moving in the same direction, the relative velocity between the two moving vehicles can be equal to zero (VSBL=0), but the distance Rtop2on which you want to issue the command on hazardous distance must be not less than the values ΔR, which depends on values of ground speed of the vehicle Vamand the reaction time of the driver of the car twater:

Then the total braking distance can be found by the formula

Therefore, the transmitter dangerous distance in distance, ground speed and rate of convergence 15 gives the Executive team on the results of the calculations of joint values: the current distance to the obstacle Rtechthe speed of convergence with the constraint VSBLand ground speed of the vehicle Vamonly in the case of a critical condition of these quantities, when possible dangerous collision with a moving or stationary obstacle.

Circuit 18 controls the position of the antenna allows you to change the angle at which the radiation is in the presence of counter-moving vehicle provided with a device similar to those proposed. This allows to reduce mutual interference, creating is controlled by the radar.

To improve the active safety of vehicles when driving in a convoy, the system applies the antenna 23 data exchange between objects of the column, which sends a coded radio signal, characterizing the condition of the vehicle (Vam). Data (Vamcome from evaluator dangerous distance in distance, ground speed and rate of closure 15 and converted into a radio signal in the modulator 20, comes in the form of a radio signal via the antenna 23 of the communication between objects column, encoded data on the state of other objects in columns (VAM1...Vampthrough the circulator 21 are received in the comparator 24, and in case of reaching the critical values ΔVKR1, ΔVCRand ΔVWP3(7) command is issued on the fourth Executive scheme 22 associated with a proportional light signaling.

The availability of the communication channel between the objects column allows you to more efficiently control the speed regime of the column as a whole.

The way to ensure active safety of vehicles when driving in a convoy provides a system that includes an antenna, a modulator, a first amplifier, a mixer, a frequency Converter, the detector, the first and second recorders speed, the Registrar-range and Vice the amplifier dangerous distance range, ground speed and rate of convergence, the generator of a continuous oscillation, a second amplifier, adder, a circulator and a filter Doppler frequency, and the generator output continuous oscillation is connected to the input of the modulator first input of the mixer and the input of the second amplifier, the output of which is connected to the first input of the adder, a second input connected to the output of the first amplifier, an input connected to the output of the modulator, the output of the adder is connected to the second input of the circulator, the first input connected to the antenna, and the output from the second input of the mixer, the output of which is connected to the inputs of the frequency Converter and filter Doppler frequencies whose output is connected to the input of the second Registrar speed, the output of which is connected to the first input of the transmitter dangerous distance in distance, ground speed and rate of convergence, the output of the frequency Converter through the detector is connected with the first inputs of the recorder range and the first Registrar speed, the output of the modulator is connected to the second inputs of the first Registrar speed and the Registrar of range, the output of which is connected to a second input of the transmitter dangerous distance in distance, ground speed and rate of convergence, the output of the first Registrar speed is connected to the third input of the transmitter ASO the aqueous distance range, ground speed and rate of convergence, the second output of the transmitter dangerous distance in distance, ground speed and rate of convergence associated with the input control circuit of the antenna, the first output of the transmitter dangerous distance in distance, ground speed and rate of convergence associated with the first input circuit, the output of which is connected to the sound source, and a third input of the second circuit, the output of which is connected with the throttle, characterized in that it further introduced a third control circuit connected to the sixth output of the transmitter dangerous distance in distance, ground speed and rate of convergence, and the output of which is connected with the control unit anti-lock braking system braking system of the vehicle, the antenna data exchange between objects of the column, through which the output of the newly introduced second circulator is connected to the output of the second modulator and the input of the modulator is connected to the fifth output of the transmitter dangerous distance in distance, ground speed and rate of convergence, the comparator, which is connected to the output of the second circulator and the fourth output of the transmitter dangerous distance in distance, ground speed and rate of convergence, the fourth Executive schema associated with the output of the comparator, and the output of the fourth is ispolnitelnoi schema associated with the newly introduced light signaling.



 

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