DE1917606A1 - Automatic control for vehicles - Google Patents

Description

OB-ING. DIPL.-IN3. M. SC Dll ·! - -PHYS. C R, OIPL.-PHYS.

HÖGER DEPLOYMENT RIGHT GRIESSBACH HAECKER

PATENTANWÄLTE IN STUTTGART "\ Q / J 7606

A 37 289 m
, Iy - 134
1st 4th 1969

Micro-Electronics International Inc.. 1570 Penobscot Building, Detroit, Michigan / USA

Automatic control for vehicles

The invention relates to an automatic control to prevent collisions between self-propelled vehicles such as automobiles, trucks, buses, trains, ' Ships, air taxis and the like. It relates in particular to an automatic control system for such vehicles automatically slowed down or stopped in case of danger, regardless of the mental and physical reactions of the Driver.

The invention is an improvement on that disclosed in the United States patent 2 80 * 1 160 described system. The description the invention is based on an automatic control of a vehicle on a road, such as. B. a car

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mobile, a truck or a bus or the like. However, it will notes that the invention can also be used to automatically control other self-propelled vehicles such as those listed above can be used.

Road safety is a concern of the general public, lawmakers and the police. The invention provides a solution to one of the greatest dangers on the roads, in particular axf car roads with limited access. Such roads often cause rear-end accidents and in particular chain reactions when driving into a vehicle as a result of delays in the mental and physical reactions of the driver, an incorrect assessment of the minimum distance at different speeds, an incorrect assessment of the road condition, or as a result of what is known as motorway hypnosis, and the like. The drivers can do this Not considering or assessing all of the factors, which often leads to collisions when drivers are suddenly faced with a situation that requires quick decisions. 'If one vehicle in a row of vehicles in close proximity to one another suddenly stops at a given speed, the vehicle behind is often driving on the stopping or slowing down vehicle, with often a large number of vehicles successively colliding with the vehicle in front. Such chain reactions lead to major property damage and often to bodily harm and death.

The invention is now based on the object of creating a control for motor-driven vehicles, by means of which a drive-up or a collision is automatically prevented, _{see FIG}

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by influencing the brakes and the throttle valve or the throttle, regardless of the mental and physical. see reactions from the driver.

According to the invention, this is achieved by a device with a device attached to the vehicle for generating and radiating microwave energy, the device for radiating the microwave energy emitting a non-modulated signal in the direction of movement of the vehicle and the signal reflected by an obstacle in the path of the vehicle can receive _; a detector for generating a first direct current signal from the amplitude of the received signal, which is inversely proportional to the distance between the obstacle and the vehicle; Signals of a frequency which is proportional to the speed of the relative movement between the vehicle and the obstacle, a device for amplifying the Doppler frequency signals through awei separate channels, the amplification or output of the first channel being modified as a function of the first direct current signal, a device in both channels for squaring the Doppler signals, a device in the first channel for differentiating the square-wave signals, a monostable multivibrator which is triggered by the pulses of a predetermined polarity at the output of the differentiating device, a device in the second channel to amplify the ■ square-wave signals, a voltage gate that is controlled by the amplified squared signals, a gate dis-

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criminator, who by coincidence of the signals at the. output of the monostable multivibrator and the signals of the gate voltage device is excited to reject signals of a phase difference, which correspond to an increase in the distance between the vehicle and the obstacle, a detector ζ in the process of generating a second direct current signal., which the discriminated Doppler frequency signals is proportional to a summing device for algebraically adding the first and second direct current signals, an amplifier for the direct current signals with an input which is connected to the summing device, a device for applying the vehicle control, which is actuated by a signal at the output of the amplifier for the direct current signal and an energy source for the Supplying electrical energy to the control system.

The control system according to the invention responds immediately and, in an emergency, can control the vehicle independently of the driver's reactions slow down or stop. The distance between the moving vehicle and any obstacle that the vehicle may encounter may open up is continuously monitored. Furthermore, the speed of reducing the distance between Vehicle and obstacle and the current speed of the vehicle are continuously monitored. If these parameters are a indicate dangerous situation, the vehicle is automatically controlled so that a collision between the vehicle and the obstacle avoided or a safe and appropriate distance will be provided between the vehicle and the immediately preceding vehicle or obstacle is observed.

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The microvellic signals are reflected back from the obstacle and received by a device built into the carriage is where there is neither an external control nor an external one of the vehicle arranged signaling device are necessary.

If the conditions so require ₉ - the vehicle is automatically decelerated or stopped regardless of the reactions of the driver or the normal manual control of the vehicle.

The control according to the invention speaks to various parameters or factors that ensure safe braking distances under normal driving conditions, creating a minimum safety distance between the vehicle and the immediately preceding vehicle is observed, furthermore the Vehicle can be stopped to as the distance becomes narrower between the two vehicles to avoid a collision with the vehicle in front.

The inventive automatic control has an input in the form of a speed-distance parameter so that it responds to the speed and the distance which determine the necessary reaction time to safely decelerate or stop the vehicle.

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If necessary, the driver of the vehicle can use the automatic Switch off the control.

The control according to the invention is provided with a combined transmitter and receiver for microwaves, furthermore with the associated circuitry and the control elements, which are built into a ' small and compact unit which can be installed simply and easily in a vehicle, this unit being powerfully executed is and works reliably and can still be produced cheaply.

Exemplary embodiments of the invention are explained below with reference to the drawing, in which

1-3 illustrate vehicles with the inventive Device • are equipped.

) Fig. ^ Shows schematically the inventive

Microwave facility.

Fig. 5 is a plan view of the microwave device according to Pig ", H.

6 shows schematically a preferred embodiment of the invention in a perspective view.

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Figure 7 is a simplified block diagram of the controller of the present invention.

Fig. 8 shows a detailed circuit of a practical embodiment part of the circuit shown in block form in FIG.

Fig. 9 ■ shows the circuit of another

Part of the block diagram of Fig. 7

Fig. 10 shows the circuit of a second

Part of the block diagram of Fig. 7

Fig. 11 schematically shows the gain and the parts of the block diagram according to 7s which are used to control the vehicle.

Fig.12 "shows the power supply circuit for the block diagram of Fig. 7

13-15 show diagrams of .Waveforms for Explanation of the invention.

In the illustrated embodiments of the invention, a narrow beam of unmodulated microwaves thrown directly forward onto the path of the moving vehicle, which at one Obstacle reflected microwaves recorded, a Doppler

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Generates a signal with a frequency that corresponds to the speed at which the distance between the vehicle and the obstacle is reduced, or which alternatively depends on the speed of the increase in the distance between the vehicle and the obstacle, whereupon a Signal as a function of the amplitude of the reflected signal is generated indicating the proximity of the obstacle from the vehicle. Thereupon the Doppler effect signal is through parallel

W channels amplified, the amplification or the output of a channel corresponding to the speed-distance information modified, which is obtained in the preferred embodiment of the invention from the ignition frequency of the ignition distributor of the vehicle, whereupon the Doppler signal is rejected, which increases the distance between the vehicle and reflective obstacle and only the Doppler signal is used, which indicates a decrease in distance, a differentiator is used, which can trigger a monostable multivibrator, wherein a signal is detected which is proportional to the speed of the decrease in distance between the vehicle and the obstacle, whereupon this Signal with the sig-

. nal is added up that the speed-distance information represents in order to excite the individual controls of the vehicle via an amplifier circuit, through which its instantaneous speed is regulated.

In Figs. 1-3 of the drawing, the device according to the invention is on an automobile 10 or a similar .motor-driven Mounted vehicle and it gives a beam 12 one Microwave energy in the direction of movement of the automobile. Of the

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The ray is essentially narrow, both vertically and horizontally, and consists of transmitted rays Carrier microwaves in X-band (about 10 GH-z). When the let through Wave hits an obstacle, the waves are reflected back onto the vehicle and through the not shown Antenna that is attached to the vehicle, added and after reshaping by the inventive method explained below Circuit is operated to control the automobile 10 to prevent collision with the obstacle. The gain of the device according to the invention is a function of the speed of the automobile 10 in the manner modified so that the reflected waves have no effect on the controls of the automobile unless certain conditions are met in terms of the speeds of the distance are met. For example, as shown in Figs. 1 and 2, the Vehicle 10 at a speed of approximately 16 km / h (10 miles, per hour) has the waves crashing through an obstacle that is beyond zone 14 of beam 12 does not affect vehicle controls, with zone 14 being approximately 15m (50 feet) in front of the vehicle. However, when the vehicle is traveling at a speed of approximately 20 miles per hour (32 km / h), each obstacle has that reflects the waves and lies between the vehicle and zone 16, which corresponds to approximately 42 m (140 feet) Influence on the vehicle controls «, whereby the effect proportional to the speed of the vehicle and proportional to the speed of the reduction in the distance between the driving lines and obstacle is. Obstacles ·. That go beyond zone 16

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have no effect on the vehicle controls, even if they reflect the waves ₃ , since the gain of the receiving device of the device according to the invention has been reduced by its speed spacer _{3 in} order to reject signals that arise from such reflected waves. Also shown in Figures 1 and 2 are zones 18 and 20 corresponding to vehicle speeds of about 55 and 80 miles per hour (88 and 128 km / h) and distances of about 250 and 360 feet (75 and 108 m) .

Fig. 3 shows one of the possibilities of the invention. Due to the narrowness of the radiated beam 12 _s , the antenna mounted on the automobile 10 does not receive any reflection waves _s when the car is traveling on a road with vehicles 22 parked on both sides. However, if the automobile 10 is not aligned with the free path between the parked vehicles, the antenna picks up reflected waves * if the other parameters _a, such as distance and speed, are met. This means that the automatic control system according to the invention will also work in cases where the possibility of a collision between a moving vehicle 10 and a stationary obstacle, such as e.g. B. a vehicle parked on a street.

The device for transmitting and receiving microwaves, which is shown in FIGS. 5 and H _s includes a -Wellenleiter- means which is generally beseichnet at 23, and it consists of the ₃ known rectangular thin-walled brass waveguides. The microwave device 23 comprises a g © x »ade

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A 37 289 egg

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1. h. 1969 if -Hr-

continuous waveguide 24, which is formed by a klystron 26 Microwave energy is supplied, which is fixed by means of a flange 28 on a short waveguide 30, the with waveguide 24 near one of its ends connected is. The end of the waveguide 24, near it

the course waveguide 30 is connected, is provided with a surface 34, which forms a holder for a knife-guided (cutlerfeed) parabolic reflector antenna 36. The antenna 36 is provided with a flange 38 for connection to the paddock 34, for. B. provided by screws * ÜO, and it has a parabolic reflector 42, which has straight upper and lower edges 44 and 46, as shown in Fig. H is shown. The edges hh and 46 of the reflector 42 result in a beam that is essentially narrow in the vertical direction, so that there is no reflection by obstacles that are above the road, e.g. B. transitions and bridges. The antenna 36 is also provided with a tapering extension 48, as shown in FIG. 5, which consists of a thin-walled waveguide, at the tapered end of which a short cylindrical resonance chamber 50 is attached, which is provided with two symmetrically arranged openings 52 and 54, which are formed in the surface facing the reflector 42. The extension 48 can be enclosed by a protective screen 56, which can preferably be made of plastic and is indicated by dashed lines, and the entire antenna structure can be protected by a bell 58, which is also shown by dashed lines.

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At the other end of the waveguide 2k is a straight one. Fixed waveguide 6O, the axis of which runs practically at right angles to the axis of the waveguide 2k , and which forms a hybrid or a magic T with this. The waveguide 6O has two arms Gl and 62 of equal length, which are provided with two diode detectors 63 and Gk at their ends.

A waveguide 60 is arranged practically parallel to the waveguide 2k and provided with connecting pieces 68 and 70 for connection to the waveguide 2k , namely in the vicinity of the end of this at which the short waveguide 30 is attached, which is used as a feed from the Klystron 26 acts, the waveguide 60 being arranged substantially in the center thereof. The waveguide G6 forms a 90 ° twist 72.

An attenuator Jk, which for example consists of a threaded part is manually adjustable and that the interior of the waveguide 2k in and out, and it serves as Fig. K, shows to which modify through the waveguide 2k transmitted microwaves to, to compensate for losses in the two connecting pieces and the 90 ° twist of the parallel-connected waveguide GG . Normally the attenuator 7 ^ has been adjusted beforehand so that when energy is drawn into the microwave section from the klystron 26 and is radiated from the antenna 36, and when the antenna does not pick up any reflected waves, the detectors 63 and 6k deliver constant DC voltages of the same magnitude at their outputs.

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The microwave waveguides are preferably made of rectangular, m RG 52 / U waveguides - brass, whereby the Klystrom 26 is operated in the frequency range of 10 GHZ (X-band), with an output of 100 milliwatts and it consists of a WL liJ7 reflex -Klystron from Westinghouse or the like. Type 1 N 31 C is preferably used as diode detectors 63 and Sk.

When reflected birds are picked up by the antenna 36 and the Doppler frequency between the frequency of the output wave and the frequency of the received wave is 0, which is the case when the relative movement between the vehicle on which the antenna 36 is mounted , and the obstacle does not exist, the level of the constant DC voltages at the outputs of the detectors 63 and 6H remains the same. If, however, there is a relative movement between the vehicle on which the antenna 36 is mounted and an obstacle in the beam path, a Doppler frequency arises which results in the constant voltages _; the outputs of the detectors 63 and SH is varied, and the Doppler frequency is detected by the detectors 63 and 64 in such a way that the signals at their outputs have the same amplitude but are plus 90 ° out of phase when the antenna and the obstacle are each other get closer, and that the signals have equal amplitudes but are out of phase by minus 90 degrees when the antenna and the obstacle move relatively apart. The frequency of the Doppler signals is proportional to the speed at which the antenna and the obstacle are approaching or moving away from each other. The-

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-φ,

These signals are fed into two parallel channels, as explained in detail below, in order to control the controls to operate the vehicle in which the device according to the invention is installed.

As Fig. 6 shows, all electroni-P that belong together see and electrical elements and circuits, energy sources and the like mounted on switchboards or cards 69 which are mounted on supports 71 which, with the aid of suitable insulators and holding devices 73 and 75 on the microwave part 23 of the device attached in any conventional manner.

As shown in the block diagram of Fig. 7, the microwave section 23 of the device according to the invention is supplied with microwave energy by the klystron 26, this being its Receives energy from an energy source 74. Hey from the detectors 63 and 64 detected Doppler frequency signals, their amplitudes the same, but their phases are shifted by plus 90 ° or by minus, depending on whether the antenna 36 and the obstacle come closer or further away from each other, are directed to parallel channels A and B, the detector 73 with an amplifier 76 of the channel A and the detector 64 is connected to an amplifier 77 of the B channel is. The overall gain of amplifier 76 is given by a speed distance device 78 modified, whereby the overall gain of the amplifier is increased in proportion to the speed of the vehicle on which the device according to the invention is installed. The amplified signals at the output of amplifier 76 of channel A become

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4?

a branch line guided, in which they are detected by a detector 79, which generates a variable direct current, the strength of the amplitude of the signal is proportional to the output of the amplifier 76., supra to obtain a ^ variable DC signal corresponding to the speed of the reduction in distance or The increase in the distance between the vehicle and the obstacle is proportional, this speed being determined from the amplitude of the Doppler frequency signals if they are modified by the input of the device or section 78, which is dependent on the speed and distance. The variable direct current signal at the output of the detector 79 is passed to a summing circuit 80, which will be explained below.

The Doppler frequency signals at the output of amplifier 76 of the Channel A also leads to a second branch line, in which the signals in a squaring circuit 8l

or rectangular shaped
squared / are., and the square-wave signals are in turn amplified in a square amplifier ISO 'and differentiated in the differentiating network 82 of the circuit. The positive pulses of the differentiated signals at the output of the differentiating section 83 are used to trigger a monostable multivibrator 83 which, at its output, emits needle-shaped signals with a duration of preferably 30 milliseconds, at an amplitude of about 2 volts and a frequency j

or rectangle which is equal to the frequency of the square signals (square signals) at the input of the differentiating section 82. The signals at the output of the monostable multivibrator 83 are passed to the input of a gate discriminator οΆ . By

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the amplifier 77 of channel B amplified signals such as above, have the same amplitudes as the signals amplified by the amplifier 76 of channel A, but opposite them are out of phase by plus / minus 90 ° are squared by a squaring network 85 and by an amplifier 85 ' reinforced.

The amplified square wave signals at the output of the amplifier 85 'are passed to a gate 87 which is the discriminator

84 can control. When the signals running through channels A and B at the output of the squaring amplifier 8l 'by plus 90 ° are out of phase, gate 87 opens discriminator 84, as explained in detail below. If any signals passing through channels A and B are originally out of phase by minus 90, those from the output of the monostable Mulitvibrators 82 signals do not pass through the discriminator 84, since this is blocked by the gate 87, as will be explained in detail below. Doppler signals, which correspond to an increase in the distance between the vehicle and the obstacle are consequently rejected and Doppler signals, which correspond to a reduction in the distance between the vehicle and the obstacle, can be transmitted by the Dikriminator

85 to convert to a Doppler signal frequency will. This DC signal is fed to both gate 89 and summing network 80 in such a way that the gate 89 enables the summing network 80 to operate only when there is a direct current signal at the output of the detector 88 is available. If a direct current signal is present at the output of the detector 88, this direct current signal, that, as was said above, the frequency of the Doppler

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The signal is proportional to the DC signal at the output of the detector 79 which, as explained above, _{is proportional to the speed at which the vehicle is moving 4} and the distance between the vehicle and the obstacle. The summing network 80 consequently emits a variable direct current signal which is a function of the speed of the reduction in the distance between the vehicle and the obstacle and a function of the distance between the vehicle and the obstacle and also a function of the instantaneous speed of the vehicle.

The speed-distance device 78 operates in such a way that the overall gain of the amplifier 76 of channel A is reduced considerably at low instantaneous vehicle speeds, so that at slow vehicle speed and / or at low speed the reduction in the distance between the vehicle and the obstacle There are no signals at the output of the amplifier 76 or the amplitude of the signals at the output of the amplifier is too small to have any influence on the differentiating circuit 82 so that the controls of the vehicle are not influenced or actuated when the obstacle is beyond the ranges of the device indicated in Figures 3 by ά £ §Ήφά> η_ 14, 16, 18 and 20. It is evident, however, that the output at the output of amplifier 76 may be progressively modified namely as a puncture of the speed-distanceB-information, with the graphic representation of the through the zones

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defined areas for explanation only and not as Representation of actual limit areas for the inventive Contraption. The variable direct current signal at the output of the summing network 80 is, after amplification by a DC amplifier 90 is used with the aid of a control section 91, for example to operate the brake 92 and the throttle valve or the throttle lever 93 of the vehicle.

The controls of the vehicle are thus according to the invention automatically actuated only if the following conditions are met:

A) In the microwave beam going forward into the VJeg des Vehicle is emitted, there is an obstacle.

B) The distance between the obstacle and the vehicle can be dangerous if its speed and the braking distance required at this speed is taken into account v / earth *.

C) The distance between the vehicle and the obstacle increases with a Speed indicating the imminent danger of a collision. \

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With the device according to the invention, the controls of an engine-driven vehicle are integrated by different quantitative and qualitative inputs v / grounding the existence of a dangerous Indicate a situation whereby the vehicle can be operated and controlled in such a way that a safety distance is maintained at all times between the vehicle and one immediately ahead Vehicle or between the vehicle and the obstacle.

8-12 there is shown the details of the circuit shown in block diagram form in FIG. 7 of one embodiment of the invention wherein the AC Doppler frequency voltages generated by detectors 63 and Sk _s v ground, as explained above, if / on the channels A and B as shown in Fig. 8. The arrangement of the amplifier 76 ₃ of the square network 8l and the square amplifier 8I ^{1 of} the channel A is the same as the arrangement of the amplifier 77 »of the square network 85 and the square amplifier 85 'of the channel B _9, which is why the description is only based on the elements of the channel A takes place.

The diode detector 63 connected to the channel A is coupled via a coupling capacitor $ k to the base of an NPN transistor 96 and to a load resistor 98 which is connected between the base of the transistor 96 and a common one. grounded line 100 is located. Voltage signals corresponding to the current signals detected by the detector 63 appear on the load resistor 98 and on a load resistor

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102, which is between the emitter of transistor 96 and the common ground line 100. The collector of the transistor 96 is connected to the common B + line 10 ² I, and the base of the transistor is biased by means of a voltage divider, that is, provided with bias voltage, the voltage divider being formed by resistors 106 and 108 of the same resistance value, so that transistor 9 ^ operated as an emitter follower to isolate the output of detector 63 from the input of the first stage of the amplifier and to provide proper impedance matching. The signals appearing at the resistor 102 of the transistor 96 are applied via a capacitor 110 to the base of an NPN transistor 112, which forms the first amplification stage of the amplifier 76. The base of the transistor 112 is biased with the aid of a voltage divider 114 and II6, which lie between the B + line 104 and the grounded line 100. and also with the help of a resistor II8, which lies between the emitter of the transistor and the grounded line and is connected in parallel with the help of a capacitor 120. The amplified signals appearing at resistor 122 of transistor 112 are applied through a coupling capacitor 124 to the base of an NPN transistor 126 which forms the next stage of amplification. Transistor 126 is biased by a voltage divider formed by resistors 123 and 125 connected between its base and B + line 104 and ground line 100, respectively, and by a resistor 127 between its emitter and the earth and to which a capacitor 129 is connected in parallel. The at the collector

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Amplified signals appearing on the load resistor 128 of the transistor 126 are applied via a capacitor 30 to the base of an NPN transistor 132 which is biased with the aid of a voltage divider consisting of the resistors 13 ¹ I and 136 of equal resistance values to cause the transistor 132 to work as an emitter follower. The signals appearing at the Eraitter load resistor I38 of the transistor 132 are given via a capacitor 1 * 10 to the input of the squaring network 81 and with the help of a line 142 to the anode of the detector 79 (Pig · 10) which consists of a diode xU ^ i and a load resistor 1 ^ 5, which lies between the cathode of the diode and the ground line 100, with a capacitor 1 ^ 7 in parallel with the resistor 140, which conducts the main current component of the detected signals to ground, above the resistor 1 ^ 5 consequently a DC voltage which is proportional to the amplitude of the Doppler signal which has been amplified by the amplifier 76 of channel A, this amplitude, as stated above, being inversely proportional to the distance between the vehicle and the obstacle. This direct current signal is applied to the input of the summing circuit 89 via line 150.

The Doppler signals emitted by the amplifier 76 are applied to the input of the squaring network 81 via the coupling capacitor l4o (FIG. 8), da3 contains an MPN transistor 134, the base of which is suitably biased with the aid of a voltage divider made up of resistors 146 and 148 is formed, the common connection point of which is connected to the base of the transistor, and by a resistor 150, which is in the emitter circuit of the transistor. Its on the base of the transistor

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Signals given 1§3 appear as amplified signals at the collector resistor 152 and they are fed via a capacitor 15 * 1 to a clipping network, which consists of a parallel limiting circuit comprising diodes 156 and 158 , iäie are connected in parallel and oppositely biased so that they are correspondingly | act as a lower and an upper lock. The capped or square or rectangular signals v / then ground through a capacitor l60 to the input of Verstärkers8l ^r, where _s is composed of a transistor 164 which is biased by means of a suitable voltage divider is formed from the _s Widerständen.166 and 168, which is connected to its base and through an emitter bias resistor 170 which is between its emitter and ground. The amplified square wave signals appear across resistor 170, which is between its emitter and ground. The amplified square-wave signals that appear at resistor 172 between the collector of transistor 164 and B + line 104 are applied to the input of differentiating circuit 82 via a capacitor 218.

The amplifier 77 »the squaring network 85 (squaring network) and the amplifier 85 ^{1 of} the channel B correspond to the corresponding elements of the channel A, with the exception that there is no branch line such as 142, which at the output of the amplifier 77 z. B. is connected to the detector 79.

Furthermore, only the gain of amplifier 76 of channel A is provided at its output by means of the speed-distance circuit 78 modified, as will be explained in detail below. The amplified square signals

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which appear at the output of the amplifier 85 'via the load resistor 172 in the collector circuit of the transistor 164, are passed via a capacitor 174 (FIG. 10) to the base of an NPN transistor 176, which is connected in emitter-follower arrangement, since it has two equal resistors 178 and ISO forming a voltage divider which provide a suitable bias for the base of the transistor - _y where transistor 176 also has a load resistor I82 connected between its collector and common ground 100. The square-wave signals appearing at resistor 182 are applied to the input of gate 87 via a coupling capacitor 184 and an adjustable damping resistor 186, for a purpose to be explained below.

According to FIG. 9, the speed-distance circuit 78 takes its input signal via a coupling capacitor I90 from the ignition distributor I88 of the vehicle. Since these signals have excessive amplitudes, the amplitude is reduced by passing them through the attenuator circuit, which includes a series resistor 192 and a parallel resistor 193 connected between the junction of capacitor 190 and series resistor 192 and ground and which further includes a capacitor 194 connected between the output terminal of resistor 192 and ground . The attenuated signals are fed to the base of an NPN transistor 196, the emitter of which is grounded and the collector of which is connected to a load resistor 198. One

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Zener diode 200 is connected between the collector of transistor 196 and ground to apply a constant voltage to the collector-emitter circuit of the transistor. The Zener diode works as a. Clamp circuit, with the signals across resistor I98 as a series constant needle-shaped pulses appear, the frequency of which corresponds to the frequency of the input signals, so that it corresponds to the speed of the ignition distributor _s which in turn is proportional to the speed of the vehicle engine. The ersdieinenden across the resistor 193 needle pulses with variable Freqtmz and constant amplitude v / ground via a capacitor 202 led to a discriminating _s a series-forward diode 204 which 'has between its anode and ground a filter resistor 206 and a resistor 208 between its cathode and earth ₃ to which a capacitor 210 is connected in parallel. The rectified by the diode 20 * 1 signals are used to ^, the capacitor 210 to charge to an average voltage of _9, the inclination _s has to be discharged via the resistor 208 to ground. The base of an NPN transistor 212, which is connected to the junction between the capacitor 210 and the resistor 208, is therefore at a variable DC voltage. th, the _s and which is dependent on the RC constant of the circuit and the frequency is proportional to that is applied to the input of the circuit of the rotational speed of the engine of the vehicle therefore proportional. The emitter of the transistor 212 is ^{biased via a resistor 2L 1} I and the collector of the transistor is connected directly to the common B + line 104 via a line 215. Under these conditions, the emitter of transistor 312 always has a voltage that is slightly

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is below the voltage of its base, causing the transistor behaves like a DC amplifier, so that via a line 216 to the collector of transistor 132 (Fig. 3) a variable DC voltage is applied, thereby increasing the gain of transistor 132 is varied in order to reduce the amplitude of the signals "at the output of amplifier 76 and considerably inversely proportional to the speed of the vehicle.

Referring to Fig. 10, the amplified square or rectangular signals from channel A appear at resistor 172 of transistor 16 ¹ I and are fed to differentiating circuit 82 which includes capacitor 218 connected to the collector of transistor 164, and also a * Resistor 220,

and which is between the output of capacitor 218 / ground.

With regard to the RC circuit created by resistor 220 and the capacitor 218 is formed, the horizontal parts of the square wave signals are eliminated, so that at point 222 the circuit only needles or points appear, corresponding to the leading and trailing edges of the input signal, as shown in Fig. 13, in which the waveforms at the input can be compared with the waveforms at the output of the differentiating circuit 82. These tips are connected to a condensate gate 224 given to the input of the monostable multivibrator 83, which has an NPN transistor 226 whose base-emitter junction with the aid of a resistor 228 in its Base circuit and is reverse biased with the help of a resistor 230 in its emitter circuit. That way will transistor 226 idle with respect to base-emitter bias locked or locked, and

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1st 4th 1969

any positive spike across the capacitor 224 to the Base of transistor 226, triggers the transistor to make it conductive, so that through its collector ^ · Emitter circle a current flows. As a result of this current .appears at a load resistance j23O, which is between the Collector of the transistor and the earth is connected to a voltage. The negative peaks, on the other hand, make the base of the transistor 226 vreiter negative, so that the transistor is kept locked and no pulses are emitted at its output will.

The pulses at the output of transistor 226 are via a Capacitor 234 and a resistor 236 on the basis of a NPN transistor 238 given by means of a voltage divider is biased, which consists of a resistor 240 connected between the common B + line 104 and the base of the Transistor, and resistors 242 and 244 connected in series between the common grounded line 100 and the Base of the transistor lie. The signals applied to the base of transistor 238 are seen at collector load resistor 246 and are passed through a coupling capacitor 248 given to the base of an NPN transistor 250, the base of which is biased by means of a voltage divider formed from resistors 252 and 254 of equal resistance values, which are between common B + line 104 and ground and have their common ends connected to the base of the transistor are. The at the resistor 256 in the emitter circuit of the The pulses appearing at transistor 250 are passed through a coupling capacitor 258 to the input of the discriminator 84

- 27 -

0 0 9 0 4 5/0 7 2 5

A 37 239 m
Iy - 13 ¹ I.

ι. 4. 1969 - 27 -

IT

given. The transistor 250 acts as a coupling element for a correct impedance matching between the output of the monostable Vibrator 83 and the input of the discriminator 84, for the rejection of Doppler signals when the distance increases.

The discriminator 84 comprises a first NPN ^ transistor 2βθ ₃ whose base is connected to a coupling capacitor 258 and which is provided with a bias resistor 2β2, while the collector of the transistor 260 is connected to the common B + line 104 via a resistor 264. A second NPN transistor 266, the base of which is biased by resistor 268, is connected in such a way that the collector-emitter circuits of both transistors 26O and 266 are in series, since the emitter of transistor 26O is connected to the collector of transistor 266 and the emitter of transistor 266 is grounded. The pulses at the output of the monostable multi-vibrator 83 are given via the coupling capacitor 258 to the base of the transistor 260, and the square-wave signals from channel B are given via the adjustable damping counter tancl I86 to the base of the transistor 266, which _s as at 87 in Fig 7, for the discriminator 84 acts as a gate. If matching pulses are given on both bases of the transistors 26Ο and 266, both transistors, which are normally locked by biasing, are now immediately biased into the conductive state and a current flows from the common B + line 104 to the grounded line 100, namely through those in a row

009845 / 072S " _BAD

A 37 289 m
Iy- 134
1st 4th 1969

Emitter circles of the transistors. As a result, a signal is generated at resistor 224. On the other hand, on the Baas of the transistor 260 or transistor 266, a signal _s does not appear that with the other coincides ", ie in a different time sequence _t even when the collector-emitter path becomes conductive from one of the transistors ,, because the collector-emitter . _o P signal to the resistor 264, as fLeitung-B 104 can not flow to the common ground line 100 to flow from the common - is locked circle of the other transistor, no erseheint.

As seen from the typical waveforms according to Figo 14 seen _s tune the input signals to the base of transistor 260 and that of the transistor 266 only .in the case of a Doppler signal "indicating a reduction in distance," temporally one so that at the output of the resistor 264 Signals can appear »·. .

Figure "14 shows examples of characteristic waveforms in different parts of the circuit of the invention in which _s = Pig. in the Bloekdiagraram and in FIGS. 8-11 in detail _a and swar in the case of a Doppler frequency _s which results from a reduction in the level of driving and obstacle _s where the upper waveforms relate to channel A and the lower waveforms relate to the channel B refer »Without Doppler Effectj, do h» s if either there is no reflection by an obstacle or if the reflection is from an obstacle = S ⁵ UhJPt ₅ which is at a constant distance from the vehicle _s a direct voltage appears at the output of both detectors 63 and SH _S represented by curves 27Oa and 27Ob. in the

- 29 -

009845/07 25 _BÄD original

A 37 289 m

Iy - 134

1. 4. 1969 J3 -ZS-

If there is a Doppier effect resulting from a reduction in the distance, the signals detected by detectors 63 and 64 and amplified by amplifiers 7β and 77 of channels A and B are similar according to curves 271a and 271b, the signals coming through channel A being similar have the same amplitude as the signals coming through channel B, but the phase of the signals of channel B leads that of the signals of channel A by 90 °. The waveforms 272a and 272b represent the waveforms at the outputs of the amplifiers 8l ^r and 85 '* which are still 90 ° out of phase. The output from multivibrator 83 consists of alternating positive and negative peaks as shown by waveform 273a, and it can be seen that each positive peak of waveform 273a corresponds to a positive square pulse of waveform 272b, while each negative peak temporally corresponds to a negative The square pulse of waveform 272b coincides. With regard to the temporal correspondence between the signals of waveform 273a and the signals of waveform 272b, a series of signals, as represented by waveform 274, is accordingly generated at the output of discriminator 84.

Doppler signals resulting from an increase in distance, as shown in Fig. 15, after amplification by amplifiers 76 and 77, channels A and B have the waveforms 275a and 275b, where the signals have the same frequencies and the same amplitudes on iron, but the phase of the signal is off the channel B relative to the signals that are subject to a reduction in distance is pivoted by 180 °, as explained above

- 30 -

00984 5/0725

A 37 289 m

1. 4. 1969 20

became. The waveforms at the output of the. Amplifiers Si ¹ and 85 'are therefore similar to waveforms 276a and 276b, respectively. The signals at the output of the monostable multi-vibrator 83 correspond to the waveform 277a in all points of the curve 273a of Pig. 14, while the signals at the output of amplifier 85 'of channel B correspond to waveform 276b which is 180 ° out of phase with waveform 2-72b of FIG. 1 * 1. Each positive pulse at the output of the multivibrator 83 therefore corresponds to a negative pulse at the output of the multivibrator 83 _s which corresponds to a negative pulse at the output of the amplifier 85 'of channel B, and vice versa, so that there is no output at the discriminator 8 * 1. In the case of an increase in the stand between the vehicle and the obstacle which leads to a corresponding Doppler frequency, no signal is consequently given to the input of the detector 88 according to FIGS. 7 and 10, whereas in the case of a Doppler frequency which is based on a decrease in distance a signal is given to the input of the detector 88.

\ - '- ■ ■ - ■■■■■■

Signals appearing at the output of discriminator 84 are applied via a coupling capacitor 278 (FIG. 10) to the input of detector 88 which comprises an amplification stage with a PNP transistor provided with a base bias resistor 282 which is connected to the common B + line ΙΟ *} is connected, and its emitter is connected directly to the B + line 10 ¹ I and whose collector is grounded via a load resistor 2o'l. Signals that are applied to the base of transistor 28Ο appear amplified at resistor 28Ί in the collector-emitter circuit of the transistor and are

- 31 -

^ 009845/0725

A 37 289 Bi
Iy - 13 * »

■ ι. H. 1969

rectified by a diode 286. The rectified signals are applied to an RC network _s having a resistor 288 to which a capacitor is connected in parallel 290, both of which are between the cathode of diode 286 and the common ground line 100 * The variable DC signals _s joint at the junction between resistor 288 and capacitor 290 are ₉ and the size of which depends on the RC constant of the circuit ₉ are given to the summing circuit 80, which has a first branch _s which comprises a resistor 292 and a series blocking diode 294, and the a second branch, 'comprising a resistor 296 and an in-line blocking diode 298 in the same manner _s is the cathode of both diodes is connected to one end of a resistor 300 _a whose other end is grounded "the DC signals of the disassembly' tektors 83 are first led to the first branch of the summing circuit, which is formed from resistor 292 and diode 29 ^ det is ₉ while the direct current signals _s from the Geschwindlg-. keits-removal circuit 78 derive., and which were rectified by the rectifier 79 _{s given} to the input äes branch _{s formed} from the resistor 296 and del = diode 298, these signals flow through the resistor to earth »A variable Direct current signal _s proportional to the sum of the variable direct current signals _s flowing through resistor 300 _{a appears at the junction 302 s} common to the cathodes of the two diodes 29 * 5 and 298 and the ungrounded end of resistor 300 and the resulting variable direct voltage signal we-d given to the emitter of a PNP transistor 3Ök ^ its base with the input of the first branch of the summing sehal ^ Uht; So

- 32 009845/0725

A 37 289 m

Iy - 134

April 1, 1969 - 3 * "-

that is made up of resistor 292 and diode 294 consists. The base of the transistor is only when a DC voltage signal appears at the input of the summing circuit biased so that its emitter-collector circuit is conductive. The DC voltage signal generated at the input of the summing circuit, which comes from channel A and which only exists. if the device according to the invention receives a Doppler sequence based on a reduction in distance is used, to switch the signal at the output of the summing circuit in such a way that this signal at the output of the summing circuit only then at the output of the switch or gate appears, 'that through the transistor 30 *} is defined when the vehicle joins one Approaching obstacle.

Under these conditions, a signal appears on the parallel collector load network of transistor 304, which consists of a resistor 306 and a capacitor 308 connected in parallel therewith, which are connected between ground and the collector of the transistor. The variable direct current signal appearing at resistor 306 is applied to the input of amplifier 90 via line 309, as shown in FIG. 11, which "contains an NPN transistor 310, to the base of which the variable direct current signal is applied ₉ and which is provided with an emitter biasing resistor 312, which lies between the emitter and ground, and a load resistor 314 ₃ which is between its Collector and the common B + line 104. The variable amplified direct current signal which appears at resistor 314 is applied to the base of a PNP transistor 316 which forms the control part of the block diagram of FIG.

009845/072 5

A 37 289 m
Iy -134
1. k. 1969

forms, and whose emitter is connected to the common B + line ΙΟΊ, and in whose collector circuit the coil 318 of a solenoid 320 is located, which is suitable for actuating a plunger 322 of the solenoid. One end of the tappet 322 is suitable for actuating the brake system 92 of the vehicle, which is also provided with a foot brake pedal 324 which can be actuated by the driver and by means of which the brake system 92 can be actuated via a linkage 326. If a direct current signal exists at the output of the summing network 80 and is switched by the gate 89, which contains the transistor 30 ¹ I, which is the case when the distance between the vehicle, vehicle and obstacle decreases, this direct current signal is actuated after it has been reinforced as explained above, the solenoid 320, so that the plunger or piston 322 is displaced in the direction of the arrow against its return spring, whereby the brakes are applied in proportion to the magnitude of the DC signal which, as explained above, the speed the reduction in the distance between the vehicle and the obstacle, the current speed of the vehicle and the distance between the vehicle and the obstacle is proportional. In any case, however, the foot brake pedal 324 can be operated by the driver in order to switch off the automatic brake control according to the invention.

The signal appearing at the collector of transistor 316 is also applied to the base of an HPM transistor 328, the base of which is biased with the aid of a resistor 330 , and the collector of which is connected directly to the common B + line ΙΟΊ, with between its emitter and a load resistor 332 lies to the earth. The bias on

A 37 289 m

Iy - 134 -

1. i}. 1969 -> JT-

the base of transistor 328 is chosen to be the transistor normally locked, unless a signal appears at the collector of transistor 316, the size of which is sufficient to to balance the bias voltage, causing transistor 328

becomes conductive, with the result that a signal appears across the load resistor 332 of transistor 328. This Sig-P nal is given to the base of a second NEN transistor 332, which is thereby made conductive in such a way that a current through its collector-emitter circuit and consequently flows through the coil 336 of a solenoid 338 which is connected to a Piston 3 ^ 0 is provided. The piston 3 ^ 0 is in the direction of the Arrow moved against his return spring and he can pull on the accelerator pedal 3 ^ 0 to shake it to the Warn drivers that the vehicle is dangerously approaching an obstacle.

Arranged, the throttle valve or the system for accelerating the vehicle · tool, generally indicated in Fig. 7 and 11 with 93 _& ι so v / ground that the piston 3 JO ¹ of the solenoid 338 with an appropriate loose in Verbxndungsgestänge the actuator for the throttle valve of the vehicle is connected to release the throttle valve when actuated, instead of shaking the accelerator pedal as a warning to the driver.

An energy source is shown in FIG. 12 which essentially corresponds to the energy source 7 ^ of the block diagram 75. The power source of Fig. 12 receives its input on the battery ¥ 3KH of the vehicle in which the device of the invention _s is installed wherein the negative terminal of the battery-

■ ^{: <} - ν '.-: .. 0090 4 1 '28.

A 37 289 m 19176Ό6

Iy - 13 * f
1. U. 1969

rie is grounded and the positive terminal is connected to the positive input terminal 346 of the power source. A Zener diode 348 is arranged between the input terminal 3 ^ 6 and the earth, the Zener diode 3 ^ 8 being used to regulate the voltage to practically 12 volts, regardless of voltage changes at the positive terminal of the battery 3kk above 12 volts . Terminal 346 is connected to a B + output terminal 350, which in turn is connected to the common B + line 104 of the circuit according to FIGS are provided, and the output terminal between the input terminal 346 350, whereby the voltage is pressed at the output terminal 350 to 10 volts, further comprising a Zener diode see 356 _be-% of Ausgangsklerame 350 and the ground is, the voltage at of terminal 350 at a substantially constant fourth above ground potential. A capacitor 358 is placed between the common junction of resistors 352 and 354 and ground to further eliminate voltage ripples in the output.

The power source of Fig. 12 further includes a DC-DC converter to generate the high voltage for the klystron part. This converter has a saturable transformer core 3βΟ, which has short windings 362 and 36 ¹ J, for example ten turns each, in its primary part, and also a long winding 366, which has sixty turns, for example, and which is provided with a center tap 368

00984B / 072B ■

A 37 289 m

1. 4. 1969.,

is "Two opposite ends of the Mick lungs 362 and are connected via a line 370 ₃ is connected while the other end of the winding 362 at the base of a first NPN transistor 372 and the other end of the winding 364 to the base of widths HPN transistor 37 ^ is = The collectors of slider transistors are connected to the ends of the long winding 366 aiig3Söiilossen ₅ while their emitters are connected to one another and grounded via a line 37 · 5 = the tap 368 of the winding. iuü.S j? eS isc connected to the Swölfvoltklemme 3 ^ 6 ₃ where si:.: Probe 378'-ar the tap and the earth lies * ^ "isoä the-tap ■ 3-58 and the line 370 isfc a resistor 3o0 arranged., while a resistor 382 «which has a low -". "321! in resistance value _s swisehsn the line 370 and the g3ei? S © ü3n Leitimg 3? o is o

Di- TorstensM -.besehriebene device acts as a free-running Z-Iiilti ^ iöratoro The bases of both transistors 372 and 37 ^ säiid durch.einen geaieinsanien resistor 382 biased negatively _s so that both collector-emitter circuits of the transistors are locked in the idle state. When the energy supply sum is switched on for the first time _s the base bias voltage of each transistor is raised to a predetermined value _a since each base is now connected to the plus-twelve-volt = terminal 3 ^ 6 via the resistor 38Ο _s so that both transistors are switched on at the same time ΐ / erderu Since, however, between the apparently identical circles de? Transistors 372 and 374, as a result of differences in the characteristics of the individual components, there is an imbalance, one of the transistors is switched on before the other or is more conductive than the other.

009845/0725

A 37 289 m
Iy- 13 ^
1. 4 ;. 1969

the transistor 372 conducts more heavily, so a stronger current flows through half the section of the winding 366, the between tap 386 and the collector of transistor 372. This current induces a voltage in the short Winding 362, making the base of transistor 372 more positive, causing the transistor to be heavily conductive is controlled. At the same time that a voltage was induced in the short winding 362, which is the base of transistor 372 made more positive, a voltage in the short winding 367 was in the opposite direction induced, making the base of transistor 374 longer is made negative, causing transistor 374 to latch will.

The magnetic flux in the core of the transformer 360 quickly saturates, so that the flux does not increase any further, even if the current flowing through the aforementioned half of the winding 366 still tends to increase. As a result of the saturation of the magnetic flux, the voltages induced in the windings 362 and 364 collapse, whereby the control voltage at the base of the transistor 372 disappears, so that it is locked again. Current flow in the collector-emitter circuit of transistor 372 and through the first half of winding 366 ceases, causing the magnetic flux in the transformer core to collapse. As a result of the collapse of the Hagnetflusses are now in the short V / ents voltages 362 and 364 with respect to the previous opposite polarities induced, whereby the transistor 372 continues to lock the transistor 37 and I ¹ is controlled to the conductivity to do so. that a / itrom flows through the zvjeitu half of the winding 366 between the AM ^ rlff 3f-0 and the K-vUoktor -laß Vfiri-Istors 376.

- 33 ~

OuS ijAs / uv:;, 5

A 37 289 m
Iy - 134

1. 4. 1969 - -

Yo

The cycle described above is repeated as long as 'Like tap 368, it is connected to the plus twelve-volt terminal 346 is so that induced currents through the windings 384 and 386 in the secondary of the saturable transformer 36O Flow- These currents that flow through windings 384 and 386 currents that can have 1050 or 750 turns, for example, generate considerably high windings herein due to the turns ratios between the primary and secondary windings Voltages and currents are rectified with the aid of diode rectifier bridges 388 and 39O, which are described in parallel in Art the voltage doubler are arranged, the bridge 368 via a parallel-connected pilter capacitor 392 and a series filter resistor 394 with a clamp 396 is connected, which is kept at a predetermined voltage across the line 398 with the aid of a Zener diode 400, which is the same for both rectifier bridges. The second in-line bridge 390 is provided with a filter network, which consists of a capacitor 402 and a resistor 404, with a Jkier diode 406 is provided to substantially to create constant DC voltage via a voltage divider, which is controlled by a fixed resistor 4O8 and an adjustable Resistor 410 is formed. A diode 412, the one Preventing current reversal is with its anode on the slide of a variable resistor 410 and with its cathode on a Terminal 414 is connected, which in turn is connected to the klystron resonator connected is. The terminal 396 is connected to the klystron in order to supply it with voltage for the beam to be transmitted to supply.

, C, / 0 7 : ö BAD OBiQIHAL

A 37 289 in
Iy - 134
1st 4th 1969

In a practical embodiment of the invention, oils were used in the table below:

Size ff ■
resistors (ohms) resistors

ίϊϊΐ).

3LO2

IN THE . C2)

180

2OK

IIS C2 | 118 C2] i 122 C2)

123

127

ΙΐίΦ CS)

00984S / 0723

A 3? 289 m Iy - 134 L H. 1969.

HO

ί
ι .Resistors (2) - Size *
(Ohm). Resistances OrSSe
(Ohm): ■ L ""
- "resistances size
(Ohm) ■ 145 (2) 1OK 228 ■ 2.7K 288 1OK ' 146 (2) • 4.7K 230 680 292 IK 148 (2) - 1OK ' 232 I.5K 296 IK ■ 150 (2) 460 236 3.3K 300 IK 166 C2) 47K 240 l.SK - 306 1OK 168 (2) 1OK 242 75 - _ 312 20th 170 560 244 680 314 470 172 - 4.7K 246 IK ' 330 1.5K 178 1OK 252 1OK 332 96 180 1OK .. 254 1OK 352 22 2W 186 2OK 256 3K 354 22 2W 192 8OK 262 1OK 380 1.1K ..- 206 1OK 264 - 4.7K 382 150 208 2OK + 268 3K 394 i.sk'iw 214 IK 282 1OK 404 6.8K2 / 2W 220 1OK 284 1OK 408 3KJ / 2W 410 2OK 3 / 2W

- ill -

00984B / 072S

1917806

A 37 289 m Iy - 134 1st k. 1969

- i} T -

Klystron Type, Transistors Type·. TransistoiBn • Type ■ ι
I. 26th
N. Westing
house
WL - 147 196
212 2N708
.2N708 310
316 2H3054
2M255A I. Transistors Type 226 2N708 328 2H338 ί 96 (2) 2N708 238 2N708 334 2N338 j 112 (2) 2N930 250 2N708 372 2Μ303 ^ j
j 126 (2) 2N338 260 2N760 374 2N3054 j
f.
\ 132 (2) 2N338 266 2N718 144 (2) 2N708 280 2Nl307 164 (2) 2N708 304 2N338

- 112 -

A 37 289 m Iy - 13 ¹ I 1st h. 1969

St.

ι ■
periods Type. Capacitor fabric
■. '- frafd) (2) 10 ■ · *
capacitor value
fmfd "): .01 63 1N31C 94 8th 202 50 "64" 1N31C 110 (2) 10. 210 .001 I 79 1N485 124 (2) 27 218 .02 156 (2) 1N2069 129 (2) 10 224 .01 158 (2) 1N2069 130 (2) 10 234 . "10 204 1N2071 140 .05 248 ■ 20 260 SV6 147 (2) 10 258 4.7 286 1N485 154 (2) 10 278 ο 05 294 1N485 160 10 290 .5 298 1N485 174 10 308 . 500 348 - j
1N1353 1
I.
184 .1 358 50 356 VR-IO 190 .005 378 30th 388 (4) 1N2069 194 392 30th 390 (4) 1N2069 402 400 Spec. H.ν. 406 η Μ 412 1N2069 - 43 -

0098 41/07

_BATH

131760G

A 37 289 m

Iy- 13 ^

τ it. 1969 14 -ty?

The speed-distance information for the operation of the device according to the invention can apparently also from a other device than 'the usual ignition distributor of the vehicle. Such input information you can use the speedometer or the alternator, for example of the vehicle, with one of the last-mentioned options in vehicles with diesel engines or turbines suitable is.

The transistors used depend on the selected polarity of the circuit and all NPM or PNP transistors can be used be replaced by opposite equivalent transistors as long as the polarities and the arrangement of the elements in the usual way to be changed.

The device according to the invention is thus suitable for determining whether a moving vehicle is approaching an obstacle, furthermore the speed of the reduction in the distance between the vehicle and the obstacle can be determined, and the controls of the vehicle can be used as a function of this reduction in the distance between the vehicle and the obstacle, as function decelerated of the distance between the vehicle and obstacle, be as a function of the speed of the reduction in distance and as a function of the instantaneous speed of the vehicle automatically actuated in such a way that the vehicle is decelerated in the event of an imminent collision and can ground stopped v / or the vehicle can and be slowed down so that it maintains a safe distance behind a moving obstacle that is moving in the same direction in the path of the vehicle.

009845/07 2 5

Claims (1)

A 37 28Q ra
Iy - 13 ¹ I. ι. 4th 1969 Claims 1. control device for a vehicle for preventing collisions; which is provided with a brake and a device for acceleration, characterized by a Device for generating and emitting a micro- r wave energy that is mounted on the vehicle, wherein the device for radiating the microwave energy emit an unmodulated signal in the direction of movement of the vehicle and can receive this signal, if it has been reflected by an obstacle in the way of the vehicle, detectors to get out of the Amplitude of the received signal to generate a first direct current signal that is inversely proportional to the distance between the obstacle and the vehicle, a device for increasing the first direct current signal as a function of the speed of movement of the vehicle, a device for generating Doppler signals at a frequency that corresponds to the speed the relative movement between the vehicle and the obstacle is proportional, a device for amplifying the Doppler frequency signals through two separate channels, the amplification of the first of these channels being modified as a function of this first direct current signal, devices in both channels to the Dopp To make ler frequency signals square or rectangular, devices in the first channel to differentiate the square-wave signals, a monostable multivibrator, which is triggered by pulses of a predetermined polarity at the output of the differentiating device _s 00984 5/07 A 37 289 m
Iy - 13 ² I.
1st 4th 1969 a device in the second channel for amplifying the square-wave signals, a voltage switching device which is controlled by the amplified square-wave signals, a discriminator which can be actuated by the coincidence of the signals at the output of the monostable multivibrator and the voltage switching device, and which can reject signals which have a phase difference which corresponds to an increase in distance between the vehicle and obstacle detectors for generating a second DC signal _s comprising the äiskri ^ ined Doppler Prequenzsignalen proportional is a Siin · - minimizing circuit for algebraically adding the first and cleave direct current signal, an amplifier for the DC signals to an input , which is connected to the summing circuit, an actuating device for the vehicle control, which is actuated by a signal at the output of this amplifier for the direct current signals, and by an energy source to power the control system with electr to supply them with plenty of energy. 2 * Device according to claim I _9, characterized in that the device for the opening of a second oil current signal which is proportional to the speed of movement of the vehicle, comprises a Dikriminiator which is connected to the distributor of the vehicle in order to emit a direct current signal which is proportional to the ignition frequency of the distributor . BATH A 37 289 m
Iy- 134
I. H. 19o9 3. Device according to claim 1, characterized by normal, wise switched-off switch activated by a signal at the output of the DC amplifier can be switched on, furthermore by solenoids, which are activated by this switch when switching on be operated to the driver of the vehicle in front of it. nerij that the distance between the vehicle and the obstacle is smaller is, in that the accelerator pedal of the vehicle in Vibrations are caused * Ι »Device according to claim 3» characterized _s that the excited by the solenoid switch means with the operating means for the accelerator pedal or the throttle flap is connected to this freizugeben- In that said means for radiating microwave energy includes 5 »Apparatus according to claim 1, characterized in that a parabolic reflector (H2) and a resonant cavity (50) which are mounted at the end of a waveguide _s having zvrei symmetrically arranged openings _s on the surface of the reflector are prepared " βο device according to claim 1, characterized in -that the totalizer (80) is gated to normally disable the totalizer until the second DC signal at the output of the detector device (63, appears. 9845 / 07.2S BATH ORIGINAL 917606 A 37 289 mn
Iy - 13 ¹ I.
1. k. 1969 7. Apparatus according to claim 1, characterized in that only elements made from pesticides are used in the circuits. 8. Apparatus according to claim J _3, characterized in that the device for generating microwaves has a reflex klystron (26). 9. Apparatus according to claim 8, characterized in that the energy source (7 ¹ O means for lowering the Sapnnungen and filtering comprises _third to a regular DC voltage from the normal electric system of the vehicle to the solid elements dispense, FER und'idaß , ner DC-DC transformers are provided to supply the klystron with high DC voltage. 10. The device according to claim l _s, characterized by a device mounted on the vehicle for emitting microwave energy which can emit a signal in the direction of movement of the vehicle and which can receive this signal again when it has been reflected by an obstacle in the path of the vehicle , a device for generating from the amplitude of the received signal a first DC signal which is inversely proportional to the distance between the obstacle and the vehicle, a device for generating a second DC signal which is proportional to the speed of movement of the vehicle, a device for adding of the first and the second equal 009845/0 725 917606 A 37 289 m
ι. i ». 1969 stromsignalesj to generate a third direct current signal, that of the reciprocal of the distance and the speed directly .proportional, a device for generating. Doppler signals with a frequency that corresponds to the relative difference in movement between the vehicle and the obstacle ^ Means to amplify these signals and a device to pass the amplified signals through separate channels A and Squaring B, a device in a channel adorning the square wave signals, a monostable multivibrator, which is triggered by the differentiating device, further through gates that are actuated by the square wave signals of the other channel, a discriminator, if they match the signals at the output of the monostable multivibrator and the gate can be actuated, the correspondence the signals of a reduction in the distance between the vehicle and the obstacle corresponds to a detector device for generating a fourth direct current signal which is proportional to the frequency of the signal at the output of the discriminator, a Summing circuit for adding the third and fourth direct current signals, an amplifier for the direct current signals with an input which is connected to the summing circuit, a device which is activated by a signal at the output of this amplifier can be actuated to operate the controls of the vehicle to avoid a collision between the vehicle and the obstacle to avoid. 009845 / 072E 917608 A 37 289 m ι. ι ». 1969 Hj 11. The device according to claim 10, characterized in that normally switched off switching device which can be actuated by a signal at the output of the direct current signal amplifier actuate the vehicle's brake and the throttle valve of the vehicle can release as a function of the strength of the direct current signal, by actuating a Solenoid connected to the controls for the brake and throttle valve. 12. The device according to claim 10, characterized by gates which can be controlled by the fourth direct current signal, ura to operate the summing circuit only when the four-i? DC signal has been generated at the output of the discriminator BH. 13 · Device according to claim 1, characterized by a device for generating Doppler signals with a speed of the relative movement between the vehicle and the obstacle is proportional, a device to reject Doppler signals _s the distance between vehicle and increase obstacle correspond ,, means for generating a third direct current signal, the frequency of the Doppler signals _s is proportional to a summation circuit of the first to add, the second and the third direct current signal, and means for actuating the vehicle control depending on the Summevdieser DC signals. A 37 239 m 1 »4. 1969 SO 14. Apparatus according to claim 10 and 13, characterized., that the device for generating the second direct current signal which corresponds to the speed of movement of the vehicle is proportional, has a device which is dependent on a device 'which gives an indication of the speed of movement of the vehicle to a direct current signal to produce that this speed of movement "is proportional. 15. The device according to claim 13s characterized by a Device to alert the driver of the vehicle to a reduction in the distance between the vehicle and the obstacle do. 16. The device according to claim 1, characterized by a device for generating microwave energy, a device for radiating microwave energy, which emit a substantially narrow beam in the direction of movement of the vehicle and which reflect through an obstacle ) controlled microwaves, a device that a first control signal is generated depending on the recorded microwaves, the amplitude of which corresponds to the distance between the vehicle and obstacle is inversely proportional, means for reducing the gain of the first signal in Puncture the reciprocal of the speed of movement of the vehicle, a phase sensitive device that depending on the frequency shift between "the emitted and the received microwaves a second Control signal depending on the speed of the distance "Q0984 5/07 2P A 37 289 m 1: it. 19.69 pl Reduction between vehicle and obstacle ₃ generates a device to automatically apply the brake as a function of the sum of the first and second control signals j, and a device to prevent actuation of the brake when the frequency shift indicates an increase in the distance between the vehicle and the obstacle . 17. The device according to claim 16, characterized by a Device to automatically release the vehicle's throttle valve when the brake is automatically applied. 18. The device according to claim 1, characterized by a device to control the vehicle when receiving the reflected waves depending on the speed of the Vehicle, the distance between the vehicle and the obstacle and the speed of the reduction in the distance between the vehicle and obstacle to actuate. 009 84 5/07 25