CN113753043B - Self-adaptive cruise turning speed adjusting system and method for assisting driving - Google Patents
Self-adaptive cruise turning speed adjusting system and method for assisting driving Download PDFInfo
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- CN113753043B CN113753043B CN202111041898.3A CN202111041898A CN113753043B CN 113753043 B CN113753043 B CN 113753043B CN 202111041898 A CN202111041898 A CN 202111041898A CN 113753043 B CN113753043 B CN 113753043B
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- 230000000694 effects Effects 0.000 claims description 23
- 230000003044 adaptive effect Effects 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a self-adaptive cruise turning speed adjusting system for assisting driving and a method thereof, and the technical scheme is as follows: the self-adaptive cruise turning speed adjusting system comprises a control module, wherein a control module connecting end is respectively provided with a monitoring module and a running state module, the monitoring module is electrically connected with the running state module, a control module connecting end is respectively provided with an execution module and a human-computer interaction module, an output end of the control module is electrically connected with the execution module, an output end of the control module is electrically connected with the human-computer interaction module, and the self-adaptive cruise turning speed adjusting system and the self-adaptive cruise turning speed adjusting method for assisting driving have the beneficial effects that: the safety of the self-adaptive cruise turning speed adjusting system is improved, the situations that the front vehicle is driven away and the self-vehicle turns around or turns around are avoided, and the problem that the driver generates psychological burden due to the fact that the target vehicle is lost, the vehicle can be turned over and accelerated violently, and strong impact force is brought to the driver is solved.
Description
Technical Field
The invention relates to the technical field of auxiliary driving, in particular to an adaptive cruise turning speed adjusting system and method for auxiliary driving.
Background
The adaptive cruise control system is an intelligent automatic control system, which is developed on the basis of the existing cruise control technology. In the running process of the vehicle, a vehicle distance sensor installed at the front part of the vehicle continuously scans the road in front of the vehicle, and meanwhile, a wheel speed sensor collects a vehicle speed signal. When the distance between the vehicle and the front vehicle is too small, the ACC control unit can appropriately brake the wheels and reduce the output power of the engine through the coordination action of the anti-lock braking system and the engine control system, so that the vehicle and the front vehicle can always keep a safe distance.
When the existing automobile starts the self-adaptive cruise system, the system obtains the exact position of the front automobile by using a low-power radar or an infrared beam, when the front automobile is found to be decelerated or a new target is monitored, the system can send an execution signal to an engine or a brake system to reduce the speed of the automobile, so that the automobile and the front automobile keep a safe driving distance, but when the front automobile is driven away from the front automobile to turn or turn around, the automobile can turn to and accelerate violently due to the loss of the target automobile, strong impact force is brought to a driver, psychological burden is generated on the driver, and certain potential safety hazards exist.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a self-adaptive cruise turning speed adjusting system for driving assistance and a method thereof, wherein the turning speed of the self-adaptive cruise system is adjusted by arranging a control module, a monitoring module, a driving state module, an execution module and a human-computer interaction module, so that the problems that when the current self-adaptive cruise system is used, a vehicle is violently accelerated in steering and brings strong impact force to a driver and potential safety hazards due to the loss of a target vehicle when the current self-adaptive cruise system is driven away from the self-vehicle to turn or turns around are solved.
In order to achieve the above purpose, the invention provides the following technical scheme: a self-adaptive cruise turning speed adjusting system and a self-adaptive cruise turning speed adjusting method for assisting driving comprise a control module, wherein a connecting end of the control module is respectively provided with a monitoring module and a driving state module, the monitoring module is electrically connected with the driving state module, a connecting end of the control module is respectively provided with an executing module and a human-computer interaction module, an output end of the control module is electrically connected with the executing module, an output end of the control module is electrically connected with the human-computer interaction module, the executing module is electrically connected with the monitoring module, and the executing module is electrically connected with the human-computer interaction module;
the control module comprises an input circuit and an output circuit, the input circuit is located at the input end of the control module and electrically connected with the control module, the input circuit connecting end is provided with an analog-to-digital (A/D) converter, the input circuit and the A/D converter are electrically connected, the A/D converter connecting end is provided with a Central Processing Unit (CPU), the A/D converter and the CPU are electrically connected, and the output circuit is located at the output end of the CPU and electrically connected with the CPU.
Specifically, the human-computer interface is used for displaying system parameters and system state information set by a driver. A driver can start the system through a human-computer interaction interface arranged on an instrument panel, so that the system operates; the input circuit has the main function of preprocessing input signals of various sensors to change the input signals into signals which can be accepted by a CPU (central processing unit); the A/D converter is used for converting the analog signal into a digital signal; the signal enters the CPU processor through the input interface, after data processing, the CPU processor sends the operation result to the output interface, so that the execution module works; the output circuit converts the command signal from the microcomputer into control signal to drive the execution module.
Preferably, the monitoring module includes speed measuring unit, range unit and vehicle interval monitoring unit, the unit link that tests the speed is equipped with acceleration sensor, speed sensor and the fast sensor of wheel respectively, the speed measuring unit passes through electric connection with acceleration sensor, speed sensor and the fast sensor of wheel respectively, the unit link that measures the distance is equipped with radar sensor, radar sensor's quantity sets up to a plurality ofly, the range unit passes through electric connection with radar sensor, vehicle interval monitoring unit passes through electric connection with speed measuring unit and range unit respectively, vehicle interval monitoring unit and the module electric connection of the state of traveling.
Specifically, the acceleration sensor is a sensor capable of measuring acceleration. In the acceleration process, an acceleration value is obtained by measuring the inertial force borne by the mass block by the acceleration sensor; the speed sensor is arranged on an output shaft of the speed changer and used for acquiring a real-time speed signal; the wheel speed sensor is used for measuring the rotating speed of the automobile wheel; the radar sensor is arranged at the front end of the automobile and used for acquiring a distance signal between vehicles.
Preferably, the driving state module comprises a linear driving unit and a steering unit, a yaw sensor is arranged at the connecting end of the linear driving unit, the linear driving unit is electrically connected with the yaw sensor, the steering unit is provided with a steering sensor at the connecting end, and the steering unit is electrically connected with the steering sensor.
Specifically, the yaw sensor is used for recording whether the automobile is in yaw during running; steering wheel angle sensors commonly used in steering sensors employ a mechanical structure of three gears to measure the angle of rotation and the number of turns of the vehicle.
Preferably, the execution module comprises an accelerator pedal sensor, a brake pedal sensor and a clutch pedal sensor, and the execution module is respectively electrically connected with the accelerator pedal sensor, the brake pedal sensor and the clutch pedal sensor.
Specifically, the throttle sensor is arranged on a throttle shaft and used for acquiring a throttle opening signal; the brake pedal sensor is arranged below a brake pedal, is taken from a brake lamp switch signal and is used for acquiring a brake pedal action signal; the clutch pedal sensor is arranged below the clutch pedal and used for acquiring a clutch pedal action signal.
Preferably, one end of the radar sensor is fixedly connected with a limiting baffle, and one end, far away from the limiting baffle, of the radar sensor is provided with a limiting and abutting component.
Specifically, pass the radar sensor in the prefabricated radar hole of car, limit baffle one side and automobile housing lateral wall contaction each other promote the stability when radar sensor installs.
Preferably, the limiting and tightening component comprises a limiting threaded sleeve and a movable ring sleeve, the limiting threaded sleeve is positioned at one end, away from the limiting baffle, of the radar sensor and is connected with one end of the radar sensor, the movable ring sleeve is positioned at the outer side of one end, away from the radar sensor, of the limiting threaded sleeve, a limiting ring groove is formed in the surface of the outer side of one end, away from the radar sensor, of the limiting threaded sleeve, a limiting ring rod is fixedly connected to the inner side of the movable ring sleeve, the limiting ring rod is slidably connected with the limiting ring groove, a fixed ring groove is formed in the outer side of the middle of the limiting threaded sleeve, an annular rack is fixedly connected to the inner side of one end of the movable ring sleeve, the annular rack is positioned inside the fixed ring groove, a sliding transverse groove is formed in the surface of one end, away from the movable ring sleeve, of the limiting threaded sleeve, a circular gear is arranged inside the fixed ring groove, a limiting sliding sleeve is slidably connected to the inner side of the sliding transverse groove, and one end of the limiting sliding sleeve is fixedly connected with a movable suction plate, the movable suction plate is made of a magnet material, and a threaded cross rod is arranged in the middle of one side of the movable suction plate.
Specifically, keep away from limit baffle one end with the rotatory tightening of spacing swivel nut at radar sensor, it is rotatory at spacing ring inslot side to rotate movable ring cover drive spacing ring pole again, movable ring cover drives annular rack rotatory, annular rack drives circular gear and screw thread horizontal pole rotatory, screw thread horizontal pole drives spacing sliding sleeve and activity suction disc motion when rotatory, activity suction disc and automobile housing inside wall contaction each other, because the activity suction disc is made by magnet material, the activity suction disc adsorbs on the automobile housing inside wall, thereby it is fixed with radar sensor.
Preferably, the circular gear is meshed with the annular rack and connected with the annular rack, the circular gear and the limiting threaded sleeves are arranged in a plurality of numbers, and the circular gear and the limiting threaded sleeves are distributed in a circumferential array.
Specifically, a plurality of spacing swivel nuts promote a plurality of activity suction disc motions, and the activity suction disc adsorbs on the automobile housing inside wall, and the activity suction disc is fixed more stable.
Preferably, the threaded cross rod is in threaded connection with the limiting sliding sleeve, and one end, far away from the movable suction plate, of the threaded cross rod penetrates through the circular gear and is fixedly connected with the circular gear.
Specifically, limiting sliding sleeve moves in the sliding transverse groove, and limiting sliding sleeve and sliding transverse groove cross section are all set to be square, so that limiting sliding sleeve is limited, sliding is enabled to slide in the sliding transverse groove, and the limiting sliding sleeve pushes the movable suction plate to move.
Preferably, the round gear is provided with a bearing at one end far away from the limiting sliding sleeve, the threaded cross rod is fixedly connected with the inner wall of the bearing at one end far away from the movable suction plate, the bearing is fixedly connected with the limiting threaded sleeve, and the threaded cross rod is rotatably connected with the limiting threaded sleeve through the bearing.
Specifically, screw thread horizontal pole one end is rotatory in the bearing inboard, and circular gear drives the rotatory more stable of screw thread horizontal pole.
A method of using an adaptive cruise turn speed adjustment system for driver assistance, comprising the steps of:
s1: when the front vehicle turns around or leaves the self vehicle, the monitoring module monitors the running speed of the self vehicle through a vehicle speed sensor of the speed measuring unit, then monitors the acceleration of the vehicle through an acceleration sensor, monitors the distance between the self vehicle and the front vehicle through a radar sensor of the distance measuring unit, and monitors the running speed of the front vehicle according to the speed and the acceleration of the self vehicle, so that the vehicle distance monitoring unit keeps normal operation;
s2: then the self-vehicle turns or turns around, the driving state module monitors the turning angle of the self-vehicle through a steering sensor of a steering unit according to the driving state, obtains the most proper speed for turning or turning around according to the driving speed and the acceleration of the self-vehicle, then transmits information to an input circuit of a control module, an input signal preprocesses the information and transmits the preprocessed information to an A/D converter, the information is converted into a digital signal through the A/D converter and then transmitted to a CPU through the A/D converter for processing, the CPU transmits an instruction signal to an output circuit after processing and analyzing, the instruction signal sent by the CPU is converted into a control signal through the output circuit to drive an execution module to work, and the execution module adjusts the turning speed of the self-vehicle through an accelerator pedal sensor, a brake pedal sensor and a clutch pedal sensor, to maintain the stability of the vehicle body;
s3: in the process of installing the automobile radar sensor, firstly, the radar sensor penetrates through a prefabricated radar hole of an automobile, one side of a limit baffle plate is contacted with the outer side wall of an automobile shell, then a rotary screw sleeve is rotated on the inner side of the automobile shell, the limit screw sleeve is screwed at one end, far away from the limit baffle plate, of the radar sensor, then a movable ring sleeve is rotated, the movable ring sleeve rotates on the outer side of the limit screw sleeve, meanwhile, the movable ring sleeve drives a limit ring rod to rotate on the inner side of a limit ring groove, the movable ring sleeve drives an annular rack to rotate, the annular rack drives a circular gear to rotate, the circular gear drives a threaded cross rod to rotate, the limit sliding sleeve is driven to move towards one end, far away from the circular gear, the limit sliding sleeve moves on the inner side of a sliding transverse groove, the cross sections of the limit sliding sleeve and the sliding transverse groove are both set to be square so as to limit the limit sliding sleeve, the sliding horizontal groove is made to slide on the inner side of the sliding horizontal groove, the limiting sliding sleeve pushes the movable suction plate to move, the movable suction plate is in contact with the inner side wall of the automobile shell, and the movable suction plate is made of a magnet material and is adsorbed on the inner side wall of the automobile shell.
The invention has the beneficial effects that:
1. the invention adjusts the turning speed of the adaptive cruise system by arranging the control module, the monitoring module, the driving state module, the execution module and the human-computer interaction module, when the front vehicle drives away from the self vehicle to turn or turn around, the monitoring module monitors the speed of the front vehicle so as to judge the distance between the front vehicle and the self vehicle, then the self vehicle turns or turns around, and the driving state module adjusts the turning speed of the self vehicle through the execution module according to the driving state so as to keep the stability of the vehicle body.
2. The invention arranges a limit abutting component at one end of the radar sensor so as to lead the installation of the radar sensor to be more stable, the radar sensor passes through a prefabricated hole of an automobile, one side of a limit baffle plate is contacted with an automobile shell, then a limit screw sleeve is screwed at one end of the radar sensor far away from the limit baffle plate in a rotating way, then a movable ring sleeve is rotated, the movable ring sleeve drives a limit ring rod to rotate at the inner side of a limit ring groove, the movable ring sleeve drives an annular rack to rotate, the annular rack drives a circular gear and a threaded cross rod to rotate, the threaded cross rod drives the limit sliding sleeve to move at the inner side of a sliding cross groove while rotating, the limit sliding sleeve drives a movable suction plate to move, the movable suction plate is contacted with the inner side wall of the automobile shell, the movable suction plate is made of a magnet material and is adsorbed on the inner side wall of the automobile shell, thereby fixing the radar sensor and improving the installation stability of the radar sensor, and the operation is convenient and fast, and the installation and the disassembly of workers are convenient.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a schematic flow diagram of an overall system provided by the present invention;
FIG. 2 is a schematic flow chart of a system for providing a control module according to the present invention;
FIG. 3 is a schematic flow chart of a system for providing a monitoring module according to the present invention;
FIG. 4 is a schematic flow chart of a system for providing a driving status module according to the present invention;
FIG. 5 is a system flow diagram of an execution module according to the present invention;
FIG. 6 is a schematic structural view of a radar sensor and a spacing and abutting assembly according to the present invention;
FIG. 7 is a perspective cross-sectional view of the present invention providing a radar sensor and a spacing and abutting assembly;
FIG. 8 is a schematic diagram of an exploded view of a radar sensor and a spacing and abutting assembly according to the present invention;
FIG. 9 is an enlarged structural view of part A of FIG. 7 according to the present invention;
FIG. 10 is an enlarged structural view of part A of FIG. 8 according to the present invention;
in the figure: the system comprises a control module 1, a monitoring module 2, a driving state module 3, an execution module 4, a human-computer interaction module 5, an input circuit 6, an output circuit 7, an A/D converter 8, a CPU 9, a speed measuring unit 10, a distance measuring unit 11, a vehicle distance monitoring unit 12, an acceleration sensor 13, a vehicle speed sensor 14, a wheel speed sensor 15, a radar sensor 16, a straight line driving unit 17, a steering unit 18, a yaw sensor 19, a steering sensor 20, an accelerator pedal sensor 21, a brake pedal sensor 22, a clutch pedal sensor 23, a limit baffle 24, a limit screw sleeve 25, a movable ring sleeve 26, a limit ring groove 27, a limit ring rod 28, a fixed ring groove 29, a ring-shaped rack 30, a sliding transverse groove 31, a circular gear 32, a limit sliding sleeve 33, a movable suction plate 34 and a threaded transverse rod 35.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to the accompanying drawings 1-10, the adaptive cruise turning speed adjusting system for driver assistance and the method thereof provided by the invention comprise a control module 1, wherein a monitoring module 2 and a driving state module 3 are respectively arranged at the connecting end of the control module 1, the monitoring module 2 is electrically connected with the driving state module 3, an execution module 4 and a human-computer interaction module 5 are respectively arranged at the connecting end of the control module 1, the output end of the control module 1 is electrically connected with the execution module 4, the output end of the control module 1 is electrically connected with the human-computer interaction module 5, the execution module 4 is electrically connected with the monitoring module 2, and the execution module 4 is electrically connected with the human-computer interaction module 5;
the control module 1 comprises an input circuit 6 and an output circuit 7, the input circuit 6 is positioned at the input end of the control module 1 and is electrically connected with the control module 1, an A/D converter 8 is arranged at the connecting end of the input circuit 6, the input circuit 6 is electrically connected with the A/D converter 8, a CPU processor 9 is arranged at the connecting end of the A/D converter 8, the A/D converter 8 is electrically connected with the CPU processor 9, and the output circuit 7 is positioned at the output end of the CPU processor 9 and is electrically connected with the CPU processor 9;
wherein, in order to realize the purpose of monitoring the distance between the own vehicle and the preceding vehicle by the radar sensor 16 of the distance measuring unit 11 and monitoring the running speed of the preceding vehicle according to the speed and the acceleration of the own vehicle, the device adopts the following technical scheme: the monitoring module 2 comprises a speed measuring unit 10, a distance measuring unit 11 and a vehicle distance monitoring unit 12, wherein the connecting end of the speed measuring unit 10 is respectively provided with an acceleration sensor 13, a vehicle speed sensor 14 and a wheel speed sensor 15, the speed measuring unit 10 is respectively electrically connected with the acceleration sensor 13, the vehicle speed sensor 14 and the wheel speed sensor 15, the connecting end of the distance measuring unit 11 is provided with a plurality of radar sensors 16, the distance measuring unit 11 is electrically connected with the radar sensors 16, the vehicle distance monitoring unit 12 is respectively electrically connected with the speed measuring unit 10 and the distance measuring unit 11, and the vehicle distance monitoring unit 12 is electrically connected with the driving state module 3;
wherein, in order to realize that the angle that the oneself car turned to is monitored through the steering sensor 20 of the unit 18 that turns to according to the state of going through the state module 3, again according to the speed of going and the acceleration of oneself car obtain turn to or turn around the purpose of most suitable speed, this device adopts following technical scheme to realize: the driving state module 3 comprises a straight driving unit 17 and a steering unit 18, a yaw sensor 19 is arranged at the connecting end of the straight driving unit 17, the straight driving unit 17 is electrically connected with the yaw sensor 19, a steering sensor 20 is arranged at the connecting end of the steering unit 18, and the steering unit 18 is electrically connected with the steering sensor 20;
in order to realize the purpose of regulating the turning speed of the bicycle through the execution module 4 by the accelerator pedal sensor 21, the brake pedal sensor 22 and the clutch pedal sensor 23 so as to keep the stability of the bicycle body, the device adopts the following technical scheme: the execution module 4 comprises an accelerator pedal sensor 21, a brake pedal sensor 22 and a clutch pedal sensor 23, and the execution module 4 is respectively electrically connected with the accelerator pedal sensor 21, the brake pedal sensor 22 and the clutch pedal sensor 23.
Wherein, in order to realize the purpose that 16 installation of car radar sensor is more stable, this device adopts following technical scheme to realize: the radar sensor 16 is characterized in that one end of the radar sensor 16 is fixedly connected with a limit baffle 24, one end of the radar sensor 16, which is far away from the limit baffle 24, is provided with a limit abutting component, the limit abutting component comprises a limit swivel nut 25 and a movable ring sleeve 26, the limit swivel nut 25 is positioned at one end of the radar sensor 16, which is far away from the limit baffle 24, and is also positioned at one end of the radar sensor 16, the movable ring sleeve 26 is positioned at the outer side of one end of the limit swivel nut 25, which is far away from the radar sensor 16, the outer side surface of one end of the limit swivel nut 25 is provided with a limit ring groove 27, the inner side of the movable ring sleeve 26 is fixedly connected with a limit ring rod 28, the limit ring rod 28 is connected with the limit ring groove 27 in a sliding manner, the outer side of the middle part of the limit swivel nut 25 is provided with a fixed ring groove 29, the inner side of one end of the movable ring sleeve 26 is fixedly connected with an annular rack 30, and the annular rack 30 is positioned at the inner side of the fixed ring groove 29, spacing swivel nut 25 is kept away from activity ring cover 26 one end surface and has been seted up slip transverse groove 31, fixed ring groove 29 inboard is equipped with circular gear 32, the inboard sliding connection of slip transverse groove 31 has spacing sliding sleeve 33, spacing sliding sleeve 33 one end fixedly connected with activity suction disc 34, activity suction disc 34 is made by magnet material, activity suction disc 34 one side middle part is equipped with threaded cross bar 35, circular gear 32 is connected with the meshing of annular rack 30, circular gear 32 and spacing swivel nut 25's quantity all sets up to a plurality ofly, and is a plurality of circular gear 32 and spacing swivel nut 25 all are circumference array and distribute, threaded cross bar 35 and spacing sliding sleeve 33 threaded connection, threaded cross bar 35 keeps away from activity suction disc 34 one end and runs through circular gear 32 and with circular gear 32 fixed connection.
The using process of the invention is as follows: when the front vehicle is driven to turn away from the self vehicle or turn around, the monitoring module 2 monitors the driving speed of the self vehicle through the speed sensor 14 of the speed measuring unit 10, then monitors the acceleration of the vehicle through the acceleration sensor 13, monitors the distance between the self vehicle and the front vehicle through the radar sensor 16 of the distance measuring unit 11, monitors the driving speed of the front vehicle according to the speed and the acceleration of the self vehicle, so that the vehicle distance monitoring unit 12 keeps normal operation, then the self vehicle turns around or turns around, the driving state module 3 monitors the steering angle of the self vehicle through the steering sensor 20 of the steering unit 18 according to the driving state, then obtains the most proper speed of turning around or turning around according to the driving speed and the acceleration of the self vehicle, and then transmits the information to the input circuit 6 of the control module 1, the input signal transmits information to an A/D converter 8 after preprocessing, the information is converted into a digital signal through the A/D converter 8 and then transmitted to a CPU 9 through the A/D converter 8 for processing, the CPU 9 transmits an instruction signal to an output circuit 7 after processing and analyzing, the instruction signal sent by the CPU 9 is changed into a control signal through the output circuit 7 to drive an execution module 4 to work, and the execution module 4 adjusts the turning speed of the automobile through an accelerator pedal sensor 21, a brake pedal sensor 22 and a clutch pedal sensor 23 to keep the stability of the automobile body;
in the process of installing the automobile radar sensor 16, firstly, the radar sensor 16 penetrates through a prefabricated radar hole of an automobile, one side of a limit baffle 24 is contacted with the outer side wall of an automobile shell, then a rotary screw sleeve is rotated on the inner side of the automobile shell, the limit screw sleeve 25 is screwed on one end of the radar sensor 16, which is far away from the limit baffle 24, then a movable ring sleeve 26 is rotated, the movable ring sleeve 26 rotates on the outer side of the limit screw sleeve 25, meanwhile, the movable ring sleeve 26 drives a limit ring rod 28 to rotate on the inner side of a limit ring groove 27, the movable ring sleeve 26 drives an annular rack 30 to rotate, the annular rack 30 rotates on the inner side of a fixed ring groove 29, the annular rack 30 drives a circular gear 32 to rotate, the circular gear 32 drives a threaded cross rod 35 to rotate, the threaded cross rod 35 simultaneously drives a limit sliding sleeve 33 to move towards one end, which is far away from the circular gear 32, and the limit sliding sleeve 33 moves on the inner side of a sliding cross groove 31, the cross sections of the limiting sliding sleeve 33 and the sliding transverse groove 31 are all set to be square, so that the limiting sliding sleeve 33 is limited and slides in the sliding transverse groove 31, the limiting sliding sleeve 33 pushes the movable suction plate 34 to move, the movable suction plate 34 is in contact with the inner side wall of the automobile shell, and the movable suction plate 34 is made of a magnet material and is adsorbed on the inner side wall of the automobile shell.
The above description is only a preferred embodiment of the present invention, and any person skilled in the art may modify the present invention or modify it into an equivalent technical solution by using the technical solution described above. Therefore, any simple modifications or equivalent substitutions made in accordance with the technical solution of the present invention are within the scope of the claims of the present invention.
Claims (7)
1. An adaptive cruise turning speed adjustment system for assisted driving, comprising a control module (1), characterized by: the monitoring system is characterized in that a monitoring module (2) and a driving state module (3) are respectively arranged at the connecting end of the control module (1), the monitoring module (2) is electrically connected with the driving state module (3), an execution module (4) and a human-computer interaction module (5) are respectively arranged at the connecting end of the control module (1), the output end of the control module (1) is electrically connected with the execution module (4), the output end of the control module (1) is electrically connected with the human-computer interaction module (5), the execution module (4) is electrically connected with the monitoring module (2), and the execution module (4) is electrically connected with the human-computer interaction module (5);
control module (1) includes input circuit (6) and output circuit (7), input circuit (6) are located control module (1) input and pass through electric connection with control module (1), input circuit (6) link is equipped with AD converter (8), input circuit (6) pass through electric connection with AD converter (8), AD converter (8) link is equipped with CPU treater (9), AD converter (8) pass through electric connection with CPU treater (9), output circuit (7) are located CPU treater (9) output and pass through electric connection with CPU treater (9), monitoring module (2) are including testing speed unit (10), range unit (11) and vehicle interval monitoring unit (12), it is equipped with acceleration sensor (13) respectively to test speed unit (10) link, The vehicle speed monitoring system comprises a vehicle speed sensor (14) and a wheel speed sensor (15), wherein the speed measuring unit (10) is electrically connected with an acceleration sensor (13), the vehicle speed sensor (14) and the wheel speed sensor (15) respectively, a radar sensor (16) is arranged at the connecting end of the distance measuring unit (11), the number of the radar sensors (16) is multiple, the distance measuring unit (11) is electrically connected with the radar sensor (16), the vehicle distance monitoring unit (12) is electrically connected with the speed measuring unit (10) and the distance measuring unit (11) respectively, and the vehicle distance monitoring unit (12) is electrically connected with a running state module (3);
the radar sensor fixing device is characterized in that one end of the radar sensor (16) is fixedly connected with a limit baffle (24), one end, far away from the limit baffle (24), of the radar sensor (16) is provided with a limit abutting component, the limit abutting component comprises a limit swivel nut (25) and a movable ring sleeve (26), the limit swivel nut (25) is positioned at one end, far away from the limit baffle (24), of the radar sensor (16) and is connected with one end of the radar sensor (16), the movable ring sleeve (26) is positioned at the outer side, far away from one end of the radar sensor (16), of the limit swivel nut (25), the outer side surface of one end, far away from the radar sensor (16), of the limit swivel nut (25) is provided with a limit ring groove (27), the inner side of the movable ring sleeve (26) is fixedly connected with a limit ring rod (28), the limit ring rod (28) is slidably connected with the limit ring groove (27), and the outer side of the middle of the limit swivel nut (25) is provided with a fixed ring groove (29), activity ring cover (26) one end inboard fixedly connected with annular rack (30), annular rack (30) are located fixed annular groove (29) inboardly, activity ring cover (26) one end surface is kept away from in spacing swivel nut (25) and slip horizontal groove (31) have been seted up, fixed annular groove (29) inboard is equipped with circular gear (32), slip horizontal groove (31) inboard sliding connection has spacing sliding sleeve (33), spacing sliding sleeve (33) one end fixedly connected with activity suction disc (34), activity suction disc (34) are made by the magnet material, activity suction disc (34) one side middle part is equipped with threaded horizontal pole (35).
2. An adaptive cruise turning speed adjustment system for driver assistance according to claim 1, characterized in that: the driving state module (3) comprises a straight line driving unit (17) and a steering unit (18), a yaw sensor (19) is arranged at the connecting end of the straight line driving unit (17), the straight line driving unit (17) is electrically connected with the yaw sensor (19), the steering unit (18) is connected with a steering sensor (20), and the steering unit (18) is electrically connected with the steering sensor (20).
3. An adaptive cruise turning speed adjustment system for driver assistance according to claim 1, characterized in that: the execution module (4) comprises an accelerator pedal sensor (21), a brake pedal sensor (22) and a clutch pedal sensor (23), and the execution module (4) is electrically connected with the accelerator pedal sensor (21), the brake pedal sensor (22) and the clutch pedal sensor (23) respectively.
4. An adaptive cruise turning speed adjustment system for driver assistance according to claim 1, characterized in that: circular gear (32) are connected with annular rack (30) meshing, the quantity of circular gear (32) and spacing swivel nut (25) all sets up to a plurality ofly, and is a plurality of circular gear (32) and spacing swivel nut (25) all are circumference array distribution.
5. An adaptive cruise turning speed adjustment system for driver assistance according to claim 1, characterized in that: the threaded cross rod (35) is in threaded connection with the limiting sliding sleeve (33), and one end, far away from the movable suction plate (34), of the threaded cross rod (35) penetrates through the circular gear (32) and is fixedly connected with the circular gear (32).
6. An adaptive cruise turning speed adjustment system for driver assistance according to claim 1, characterized in that: the round gear (32) is kept away from limiting sliding sleeve (33) one end and is equipped with the bearing, activity suction disc (34) one end and bearing inner wall fixed connection are kept away from in screw thread horizontal pole (35), bearing and limiting swivel nut (25) fixed connection, screw thread horizontal pole (35) are connected with limiting swivel nut (25) rotation through the bearing.
7. Use of an adaptive cruise turning speed regulation system for driver assistance according to any of claims 1-6, characterised by the steps of:
s1: when the front vehicle turns around or leaves the self vehicle, the monitoring module (2) monitors the running speed of the self vehicle through a vehicle speed sensor (14) of a speed measuring unit (10), then monitors the acceleration of the self vehicle through an acceleration sensor (13), monitors the distance between the self vehicle and the front vehicle through a radar sensor (16) of a distance measuring unit (11), and monitors the running speed of the front vehicle according to the speed and the acceleration of the self vehicle, so that a vehicle distance monitoring unit (12) keeps normal operation;
s2: then the self-vehicle turns or turns around, the driving state module (3) monitors the steering angle of the self-vehicle through a steering sensor (20) of a steering unit (18) according to the driving state, obtains the most proper steering or turning around speed according to the driving speed and the acceleration of the self-vehicle, then transmits information to an input circuit (6) of the control module (1), the input signal preprocesses the information and transmits the information to an A/D converter (8), the information is converted into a digital signal through the A/D converter (8), the digital signal is transmitted to a CPU processor (9) through the A/D converter (8) for processing, the CPU processor (9) transmits an instruction signal to an output circuit (7) after processing and analyzing, the output circuit (7) converts the instruction signal sent by the CPU processor (9) into a control signal and drives the execution module (4) to work, the execution module (4) adjusts the turning speed of the bicycle through an accelerator pedal sensor (21), a brake pedal sensor (22) and a clutch pedal sensor (23) so as to keep the stability of the bicycle body;
s3: in the process of installing the automobile radar sensor (16), firstly, the radar sensor (16) penetrates through a prefabricated radar hole of an automobile, one side of a limit baffle (24) is in contact with the outer side wall of an automobile shell, then a rotary screw sleeve is rotated on the inner side of the automobile shell, the limit screw sleeve (25) is screwed at one end, far away from the limit baffle (24), of the radar sensor (16), then a movable ring sleeve (26) is rotated, the movable ring sleeve (26) is rotated on the outer side of the limit screw sleeve (25), meanwhile, the movable ring sleeve (26) drives a limit ring rod (28) to rotate on the inner side of a limit ring groove (27), the movable ring sleeve (26) drives an annular rack (30) to rotate on the inner side of a fixed ring groove (29), the annular rack (30) drives a circular gear (32) to rotate, the circular gear (32) drives a threaded cross rod (35) to rotate, and the threaded cross rod (35) drives the limit slide sleeve (33) to move towards one end, far away from the circular gear (32) while rotating Move, spacing sliding sleeve (33) are at the inboard motion of slip transverse groove (31), spacing sliding sleeve (33) and slip transverse groove (31) cross section all set up to square, so that carry on spacingly to spacing sliding sleeve (33), make it slide in slip transverse groove (31) inboard, spacing sliding sleeve (33) promote activity suction disc (34) motion, activity suction disc (34) and automobile housing inside wall contact each other, because activity suction disc (34) are made by the magnet material, activity suction disc (34) adsorb on the automobile housing inside wall.
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| CN202111041898.3A CN113753043B (en) | 2021-09-07 | 2021-09-07 | Self-adaptive cruise turning speed adjusting system and method for assisting driving |
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| CN202111041898.3A CN113753043B (en) | 2021-09-07 | 2021-09-07 | Self-adaptive cruise turning speed adjusting system and method for assisting driving |
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| CN113753043B true CN113753043B (en) | 2022-05-13 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US7096109B2 (en) * | 2002-11-12 | 2006-08-22 | Hitachi, Ltd. | Adaptive cruise control system |
| US8768313B2 (en) * | 2009-08-17 | 2014-07-01 | Digimarc Corporation | Methods and systems for image or audio recognition processing |
| CN205503338U (en) * | 2016-03-24 | 2016-08-24 | 常州信息职业技术学院 | Automotive electronics ignition control device |
| CN207657813U (en) * | 2017-12-25 | 2018-07-27 | 长安大学 | Front truck is turned detecting system under a kind of adaptive cruise pattern |
| CN107992056A (en) * | 2017-12-29 | 2018-05-04 | 深圳市布谷鸟科技有限公司 | It is a kind of based on divide domain centralized calculation unit automobile intelligent drive calculating platform terminal |
| CN110745130B (en) * | 2019-11-26 | 2021-05-18 | 南京智能仿真技术研究院有限公司 | Driving assistance system based on artificial intelligence |
| CN111071251A (en) * | 2020-01-02 | 2020-04-28 | 北京海纳川汽车部件股份有限公司 | Speed limiting method for vehicle |
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