CN103985305B - Automotive active anti-collision emergency brake emulation teaching aid - Google Patents

Abstract

The invention discloses a set of simulation teaching aids for active collision avoidance and emergency braking of automobiles with the function of preventing accidental stepping on the accelerator. Connector, stepper motor, stepper motor driver, base plate, bracket, radar, photoelectric encoder, brake pedal, industrial computer, interface panel, processor board, 12V DC power supply, this teaching aid changes the position of the obstacle in front of the radar and The electronic accelerator signal input can verify the feasibility of the system program algorithm. By changing the strength of the brake pedal, the angular acceleration information of the brake pedal can be analyzed and obtained. It has a high openness and a more intuitive demonstration effect. At the same time The structure is simple, the practicability is strong, and it can better meet the needs of teaching and scientific research. It has a good debugging effect on the study of vehicle safety models and driver behavior patterns and the development of new active safety systems.

Description

Automobile active collision avoidance emergency braking simulation teaching aid

technical field

The invention relates to a professional simulation teaching aid for automobile engineering, more specifically, the invention relates to a simulation teaching aid for active collision avoidance and emergency braking of automobiles based on radar signals, electronic accelerator signals, brake pedal signals and a real-time simulation system.

Background technique

With the development of society, the problems caused by traffic accidents have become increasingly prominent, and people's requirements for automobile safety are increasing day by day. Various automotive active safety control systems have come out and been widely used, such as anti-lock braking system, traction control system, and electronic stability control system based on traditional vehicle dynamics; and adaptive cruise system based on a new generation of vehicle perception system , active collision avoidance system, lane departure warning intervention system, etc.

Because these systems are highly integrated and involve more interdisciplinary content, it has brought great difficulty to the teaching of automotive engineering, and the traditional book teaching has been unable to meet the requirements. In order to solve this problem, the present invention designs a teaching aid for an active collision avoidance emergency braking system based on the function of preventing accidental stepping on the accelerator from a simple and practical point of view. On the one hand, it can make classroom teaching more intuitive and vivid, and fully mobilize students. On the other hand, it can also increase students' hands-on practical ability and improve the cultivation level of innovation ability. At the same time, the teaching aid can also be used as a debugging platform for scientific research personnel to develop and design the braking system, so as to carry out the simulation test of the braking system, and then determine the relevant parameters. At present, most of the teaching aids for automobile engineering in China are automobile structure teaching aids, and few of them involve real-time simulation teaching aids of automatic control. This situation not only poses a great obstacle to the teaching of today's automobile engineering majors, but also has difficulty adapting to the development of today's automobile engineering disciplines. intelligence and integration requirements. At present, there is no real-time simulation teaching aid for automobile active collision avoidance and emergency braking in China.

Contents of the invention

The invention aims to overcome the problems of lack of real-time simulation and anti-accelerator misstepping functions in the prior art, and provides a set of simple and practical automobile active collision avoidance emergency braking simulation teaching aids with anti-accelerator misstepping functions. The present invention is realized by adopting the following technical solutions:

The automobile active collision avoidance emergency braking simulation teaching aid includes an accelerator pedal, a connector, a stepping motor, a stepping motor driver, a base plate, a bracket, and a brake pedal. It is characterized in that it also includes a radar, a photoelectric encoder, an industrial computer, an interface panel, a processor board, and a 12V DC power supply. The hole is fixedly connected with the output shaft of the stepper motor, the driver of the stepper motor is fixedly connected with the stepper motor by bolts, the driver of the stepper motor is fixed on the base plate by bolts, the outer top of the base plate is fixed with a bracket, the accelerator pedal is fixed on the bracket, and the radar Connect with the 12V DC power supply through the power line, the signal output end of the radar is connected to the interface panel through the wire, the photoelectric encoder is installed at the rotating shaft of the brake pedal, and the signal output end of the photoelectric encoder is connected to the interface panel through the wire, step by step The motor driver is connected to the processor board through wires, the accelerator pedal is connected to the interface panel through wires, the interface panel is connected to the processor board through wires, and the processor board is connected to the industrial computer through network cables.

Compared with prior art, the beneficial effect of the present invention is:

1. At present, the utilization rate of teaching aids related to automotive active safety technology is low in scientific research and teaching institutions, especially the teaching aids that are directly oriented to teaching are less open. The present invention designs a real-time demonstration teaching platform for the active collision avoidance and emergency braking system of automobiles based on the anti-accelerator misstepping function, including electronic accelerator and vehicle radar. The system has high openness and intuitive demonstration effect, and The structure is simple, the practicability is strong, and it can better meet the needs of teaching and scientific research.

2. The present invention can automatically adjust the accelerator pedal, and collect accelerator pedal, brake pedal and radar signals, design a program on this basis, judge the dangerous state of the vehicle, and then decide whether to perform emergency braking control. By changing the position of the obstacle in front of the radar and the signal input of the electronic throttle, the feasibility of the system program algorithm can be verified, so the invention has a good debugging function for developing a new active safety system.

3. By changing the strength of stepping on the brake pedal, the angular acceleration information of the brake pedal can be analyzed and obtained, so it is also an important reference for the study of the safety model of the car and the driver's behavior pattern.

Description of drawings

Below in conjunction with accompanying drawing this patent is further described:

Fig. 1 is the axonometric projection diagram of the structural composition of the automobile active collision avoidance emergency braking simulation teaching aid of the present invention;

Fig. 2 is the decomposed axonometric projection diagram of the structural composition of the automobile active collision avoidance emergency braking simulation teaching aid electronic throttle automatic control device according to the present invention;

Fig. 3 is that the model of automobile active collision avoidance emergency braking simulation teaching aid of the present invention is the pin connection schematic diagram of 3M2060H three-phase stepper motor driver;

Fig. 4 is the axonometric projection diagram of the connector in the electronic throttle automatic control device of the automobile active collision avoidance emergency braking simulation teaching aid according to the present invention;

Fig. 5 is the DELPHIESR high-frequency electronic scanning radar pin schematic diagram of the automobile active collision avoidance emergency braking simulation teaching aid of the present invention;

Fig. 6 is the front view of the profile of the model 40160 used by the base of the accelerator pedal signal generating device of the automobile active collision avoidance emergency braking simulation teaching aid according to the present invention;

Fig. 7 is the front view of the section bar whose model is 4040gf used by the support of the accelerator pedal signal generating device of the automobile active collision avoidance emergency braking simulation teaching aid according to the present invention;

Fig. 8 is a schematic block diagram of the structural composition of the automobile active collision avoidance emergency braking simulation teaching aid according to the present invention;

Fig. 9 is a block diagram of the working principle of the automobile active collision avoidance emergency braking simulation teaching aid according to the present invention.

In the figure: 1. Accelerator pedal, 2. Connector, 3. Stepper motor, 4. Stepper motor driver, 5. Bottom plate, 6. Bracket, 7. Radar, 8. Photoelectric encoder, 9. Brake pedal, 10. Industrial computer, 11. Interface panel, 12. Processor board, 13.12V DC power supply, 14. Slot for connector, 15. Hole for connector 16. Front connector, 17. Rear connector, 18. Radar+ 5V voltage input pin, 19. Radar ground pin, 20. Radar CAN low line pin, 21. Radar CAN high line pin.

detailed description

Below in conjunction with accompanying drawing this patent is described in detail:

The automobile active collision avoidance emergency braking simulation teaching aid of the present invention comprises accelerator pedal 1, connector 2, stepper motor 3, stepper motor driver 4, base plate 5, bracket 6, radar 7, photoelectric encoder 8, system Moving pedal 9, industrial computer 10, interface panel 11, processor board 12, 12V DC power supply 13, front connecting piece 16, rear connecting piece 17.

Referring to Fig. 1 and Fig. 2, the accelerator pedal 1 of the present invention adopts the utility model with non-contact pedal described in the utility model whose Chinese patent announcement number is CN2775608, the announcement date is April 26, 2006, and the patent number is 200520068936.4. Automotive accelerator pedal of angular displacement transmitter, the pedal has two angular displacement sensors with the same structure, by detecting the pedal rotation angle amplified by the mechanical angular displacement amplifying device, the mechanical rotation of the pedal can be represented as two analog voltage signals Signal1 With Signal2, the voltage range of Signal1 is 0.7V~4.2V, the voltage range of Signal2 is 0.35V~2.1V, and the output current of the two signals is 30mA~50mA. By inputting these two signals into the real-time simulation system, the throttle angular acceleration signal can be obtained after analysis and processing. Accelerator pedal 1 is fixedly connected with bracket 6 by two bolts.

Referring to Fig. 3, the described stepper motor driver 4 adopts a three-phase stepper motor driver whose model number is 3M2060H, and is used to drive a stepper motor 3 whose model number is 110BYG350-184. By changing the pulse signal input of the stepper motor driver 4 , the rotational speed output of the stepper motor 3 can be changed, thereby affecting the angular displacement output of the accelerator pedal 1 . The stepping motor 3 adopts a three-phase hybrid stepping motor whose model is 110BYG350-184, and maintains a torque of 16Nm. The output shaft of the stepping motor 3 is inserted into the hole 15 of the connector on the connector 2, and the connection The groove 14 of the connecting piece on the part 2 can cooperate with the stepped part of the accelerator pedal 1 in clearance, so that the stepping motor 3 can drive the stepped part of the accelerator pedal 1 to move. The stepper motor 3 is fixedly connected to the stepper motor driver 4 by four long bolts, and the stepper motor driver 4 is fixedly connected to the base plate 5 by two bolts.

The radar 7 described in the present invention is a DELPHIESR high-frequency electronic scanning radar, and the radar 7 has the scanning capability of the middle distance and the long distance at the same time, wherein the maximum detection distance of the middle distance is 50m, the accuracy is ±0.25m, and the relative speed range is - 100 to 25m/s, the accuracy is ±0.12m/s; the long-distance maximum detection distance is 100m, the accuracy is ±0.5m, the relative speed range is -100 to 25m/s, the accuracy is ±0.12m/s, The radar 7 can measure the safe distance more accurately. The 12V DC power supply 13 is used to supply the 12V DC voltage required by the radar 7 to ensure the normal operation of the radar 7 .

The photoelectric encoder 8 is an incremental photoelectric encoder with a model number of E6B2-CWZ6C, which outputs three phases of A, B, and Z from the signal line, and the phase difference between phase A and phase B is 90±45° (1/4T± 1/8T), the resolution is 2000P/R. The photoelectric encoder 8 can measure the rotation angle of the brake pedal more accurately, and then obtain the angular acceleration of the brake pedal 9 .

The brake pedal 9 adopts the SAIC Roewe 350 brake pedal assembly, which is connected with the photoelectric encoder 8 at the rotating shaft, and is used to measure the angular displacement of the brake pedal 9 when the driver steps on the brake pedal 9, and then obtain the brake pedal 9. Angular acceleration of pedal 9 for analyzing driver behavior.

Referring to Fig. 2, Fig. 6, Fig. 7, base plate 5 adopts the profile that model is 40160, and support 6 adopts the profile that model is 4040gf, and base plate 5 and support 6 are fixedly connected by bolts by means of front connecting piece 16 and rear connecting piece 17.

ControlDesk (simulation software that can seamlessly connect with Simulink) and a control program written in Python language are installed in the industrial computer 10 . ControlDesk can compile the test system control interface. Using this interface, combined with the Matlab program downloaded to the processor board 12 of the model DS1103, can easily realize the analysis and processing of the accelerator pedal 1, radar 7 and brake pedal 9 signals, and at the same time The interface can also display and store test-related data information. This teaching aid adopts the 610H industrial computer produced by Advantech, its CPU is Intel dual-core E6500 3.0GHz, and the memory is 4G. The board DS817 is installed in the industrial computer 10, and is connected to the processor board 12 of the model DS1103 through a network cable. The processor board 12 whose model is DS1103 includes integrated processor and I/O interface board, adopts IBM PowerPC750GX processor, operating frequency 1GHz, has 4 groups of 16-bit combined A/D channels; 4 channels of 16-bit independent A/D channels ; 8-way 16-bit independent D/A channel; 4-way single-phase PWM measurement output; 2-way three-phase PWM output; 32-bit digital input and output; 1-way CAN; serial interface (RS232, RS422). The DS1103 processor board 12 realizes the communication with the industrial computer through the ISA bus. The interface panel 11 whose model is CLP1103 has 20 differential A/D channels; 8 D/A channels (with independent ground readout lines); 32-bit digital input and output; 1 CAN; serial interface (RS232, RS422) and LEDs for each channel. The upper computer board of model DS817 is installed in the PCI slot of the industrial computer 10, and is connected with the processor board 12 of model DS1103 through a network cable, thereby realizing the communication between the industrial computer 10 and the processor board 12 of model DS1103.

The connection relationship between the parts of the automobile active collision avoidance emergency braking simulation teaching aid according to the present invention is: the stepped part of the accelerator pedal 1 is in clearance fit with the groove 14 of the connector on the outside of the connector 2, and runs through the connection of the connector 2 The hole 15 of the part is fixedly connected with the output shaft of the stepping motor 3, the stepping motor driver 4 is fixed on the bottom plate 5 by bolts, the outer top of the bottom plate 5 is fixed with a bracket 6, the accelerator pedal 1 is fixed on the bracket 6, and the radar 7 is connected by the power supply The wire is connected to the 12V DC power supply, the signal output end of the radar 7 is connected to the interface panel 11 through a wire, the photoelectric encoder 8 is installed at the rotating shaft of the brake pedal 9, and the signal output end of the photoelectric encoder 8 is connected to the interface panel through a wire 11, the stepper motor driver 4 is connected to the processor board 12 through wires, the accelerator pedal 1 is connected to the interface panel 11 through wires, the interface panel 11 is connected to the processor board 12 through wires, and the processor board 12 is connected to the industrial computer 10 through a network cable. connect.

Referring to Fig. 3, the U terminal of the stepping motor 3 is connected with the U pin wire of the stepping motor driver 4, the V pin of the stepping motor 3 is connected with the V pin wire of the stepping motor driver 4, and the The W terminal is connected with the W pin wire of the stepper motor driver 4 . In order to provide the pulse signal required by the stepper motor 3, it is necessary to connect the stepper motor driver 4 to the processor board 12 of the model DS1103, connect the +5V power supply pin to the +5V voltage input, and connect the PLS- to the processor board 12 of the model DS1103 The first PWM output of the processor board 12, DIR- and ENA- are respectively connected to the first and second digital outputs of the processor board 12 of the model DS1103, AC1 and AC2 are connected to 80-220V AC, and the PG terminal is grounded . In order to collect the angular displacement signal of the accelerator pedal 1, it needs to be connected to the interface panel 11 of the model CLP1103. The two +5V power supply pins of the accelerator pedal 1 are connected to the +5V voltage input, the two ground pins are grounded, and the two signal The output pins are respectively connected to the first and second A/D channels of the interface panel 11 whose model is CLP1103.

Refer to Figure 5 for the connection between radar 7 and interface panel 11. The +5V voltage input pin 18 of radar 7 is connected to +5V power supply, the ground pin 19 of radar 7 is grounded, and the CAN low line pin 20 of radar 7 is connected to the CLP1103 The CAN low line serial input of the interface panel 11 is connected, and the CAN high line pin 21 of the radar 7 is connected with the CAN high line serial input of the interface panel 11 whose model is CLP1103.

The +24V voltage input pin of the photoelectric encoder 8 is connected to the +24 voltage, the ground pin is grounded, and the three signal lines are respectively connected to the first to third digital inputs of the interface panel 11 of the model CLP1103.

In order to realize the communication between the interface panel 11 of the model CLP1103 and the processor board 12 of the model DS1103, the two boards need to be connected. First, the processor board 12 of the model DS1103 is supplied with 220V voltage, and then the The interface panel 11 of the CLP1103 is connected to the channels P1, P2 and P3 of the processor board 12 of the model DS1103 through wires. The working principle of the car active collision avoidance emergency braking simulation teaching aid:

Referring to Fig. 8 and Fig. 9, the working principle of the simulation teaching aid for active collision avoidance and emergency braking of automobiles is mainly as follows. It is transmitted to the stepper motor driver 4, so that the stepper motor 3 moves with different step angles, and then drives the accelerator pedal 1 to move with different angular accelerations, and the angular acceleration signal of the accelerator pedal 1 can be passed through the interface panel of the model CLP1103 The A/D channel of 11 is transmitted in the processor board 12, and the Matlab program that downloads therein in advance can compare this acceleration signal a with the threshold value a ₀ of setting, if it is greater than the threshold value, it can be considered that the driver is When the gas pedal is stepped on by mistake under emergency braking, the Matlab program in the processor board 12 can make the CarSIM (vehicle dynamics simulation software) car model in the industrial computer realize braking.

Also considering another working condition, some novice drivers do not exert enough force when stepping on the accelerator pedal by mistake, which will also cause accidents. Therefore, we have introduced a vehicle distance detection device composed of radar 7 . If the angular acceleration a of stepping on the accelerator pedal is not greater than the threshold value a ₀ , we then use the radar 7 to compare the safe distance. Through the two-way CAN signal input of the interface panel 11 of the model CLP1103, the signal of the radar 7 can be input into the processor board 12 of the model DS1103, and then the distance between the two vehicles can be calculated by the Matlab program downloaded in advance to the processor board 12. Since the system is used as a teaching aid, it is necessary to enlarge the demonstrated distance by 10 times using an algorithm in Matlab to be closer to the real value. When it is greater than the safety distance d ₀ set in Matlab, the program instruction will cause the CarSIM car model in the industrial computer to brake.

After the system starts to perform emergency braking, when the driver realizes that he has stepped on the accelerator pedal 1 by mistake, and then steps on the brake pedal 9, the photoelectric encoder 8 will rotate coaxially with the brake pedal 9, thereby detecting the brake pedal 9. Angular displacement, and then the signal is transmitted to the processor board 12 of the model DS1103 through the digital input port of the interface panel 11 of the model CLP1103, and the Matlab program in it will detect the angular displacement, according to the opening of the brake pedal. The CarSIM car model in the machine brakes according to a certain deceleration.

This teaching aid detects the accidental stepping on the accelerator during driving, and uses the real-time simulation system to intervene to realize the braking of the car model and avoid dangerous situations, so as to achieve a more intuitive demonstration of the active safety system in the teaching of automotive engineering.

Claims (1)

1. the Automotive active anti-collision emergency brake emulation teaching aid by mistake stepped on anti-throttle, comprise gas pedal (1), web member (2), stepper motor (3), stepper motor driver (4), base plate (5), support (6) and brake pedal (9), it is characterized in that: also comprise radar (7), photoelectric encoder (8), industrial computer (10), interface panel (11), processor plate (12) and 12V direct supply (13), groove (14) clearance fit of web member of trampling part and web member (2) outside of gas pedal (1), the hole (15) of the web member of through-connections (2) is fixedly connected with the output shaft of stepper motor (3), stepper motor driver (4) is bolted on base plate (5), base plate (5) outer tip end is fixed with support (6), gas pedal (1) is fixed on support (6), radar (7) is connected with 12V direct supply by power lead, the signal output part of radar (7) is wired on interface panel (11), photoelectric encoder (8) is arranged on rotating shaft place of brake pedal (9), the signal output part of photoelectric encoder (8) is wired on interface panel (11), stepper motor driver (4) is connected with processor plate (12) by electric wire, gas pedal (1) is connected with interface panel (11) by electric wire, interface panel (11) is connected with processor plate (12) by electric wire, processor plate (12) is connected with industrial computer (10) by netting twine.