CN101576391A - Safety reversing aid system - Google Patents

Abstract

The invention relates to a safety reversing aid system which comprises a wheel speed sensor (generally existing in an original vehicle), a controller, an indication panel and a loudspeaker. The controller receives a signal from the wheel speed sensor, the rearward shift delta A of the grounded center A of a rear wheel at the left side, the rearward shift delta B of the grounded center B of a front wheel at the left side, the rearward shift delta C of the grounded center C of a front wheel at the right side as well as the rearward shift delta D of the grounded center D of a rear wheel at the right side during the reversing process at one moment is calculated according to the wheel speed signal; the deflection angle theta generated during the rearward shift of the vehicle body is calculated by an arithmetic mean method according to the calculated angle theta r generated during the rearward shift of the rear axle, the angle theta f1 generated during the rearward shift of the front wheel at the right side and the angel theta f2 generated during the rearward shift of the front wheel at the left side, and then the rearward shift delta of the mass center of the vehicle is further calculated; and the vehicle body position during the vehicle reversing process at each moment can be obtained from the reversing by continuous measurement and calculation, therefore, the reversing operational guidance is performed to the drivers through the indication panel and the loudspeaker to ensure the safe, convenient and accurate reversing to park of the vehicle.

Description

A kind of safety reversing aid system

Technical field

The present invention relates to the vehicle backing ancillary technique, according to vehicle wheel speed information acquisition vehicle heading parameter, by light and voice messaging guiding driver turn to, the front and back mobility operation, guarantee that vehicle safety, reversing easily and accurately go into the position.

Background technology

The more vehicle backing backup system of existing application has reversing speech prompting system, reverse radar system etc., these systems have guaranteed the security and the convenience of reversing to a certain extent, but on its function the passive collision prompting that prevents, there is not the positive guide function, initiatively point out for the driver, higher to driver's technical requirement.More external high-end vehicles are equipped with the automatic backing system, but it needs the cooperation of active front steering system, system complex, and the price height is difficult to generally be applicable to general common vehicle.

The present invention proposes for solving above-mentioned reversing problem, be intended to propose a kind of have the positive guide function, simple in structure, easy for installation, cost is low, generally be applicable to the safe backing system of various vehicles.

Summary of the invention

Described a kind of safety reversing aid system forms 3 by wheel speed sensors (general former car is existing) 1,2,5,6 and controller 4, indication panel and loudspeaker, as Fig. 1.Controller receives the wheel speed sensors signal, obtains the vehicle heading parameter by calculating, sends the driver behavior instruction to indication panel and loudspeaker according to this, realizes the driver is carried out the car backing operation guiding, and the position is gone in assurance vehicle safety, convenience, reversing accurately.

Described controller receives the wheel speed sensors signal, obtain the vehicle heading parameter by calculating, promptly go out displacement and the sense of displacement that carve at a time at each wheel ground connection center by each vehicle wheel speed sensors calculated signals, and then calculate the displacement and the sense of displacement of vehicle barycenter by geometric relationship, constantly measure calculating from the reversing beginning and can obtain each vehicle body orientation constantly the vehicle backing process, thereby by indication panel and loudspeaker the driver is carried out the car backing operation guiding according to this.

Described the driver is carried out car backing operation guiding, promptly carry out the vehicle operation that moves ahead, moves backward, turns left and turns right by indication panel and loudspeaker guiding driver, the driver can select to use independent indication panel guiding, loudspeaker guides and use simultaneously indication panel and loudspeaker to guide three kinds of patterns separately.

Described indication panel such as Fig. 2, indication panel is provided with four reversing mode buttons 7,13,14,19, can select according to the reversing field condition, press a certain button and promptly selected this kind reversing mode, indication panel is provided with the arrow of four direction and stops sign, arrow 11 up and down, 17 represent respectively to move ahead and move backward, stop to indicate 12 up and down, 18 respectively expression move ahead and stop and reversing stops, left and right sides arrow 10,16 respectively the expression turn left to turn right to, about stop to indicate 9,15 represent respectively to stop left turning to and stop to turn to the right, light by above-mentioned Warning Mark flashes the guiding driver and carries out car backing operation, to guarantee vehicle safety, convenient, the position is gone in reversing accurately.

Description of drawings

In the accompanying drawings:

Fig. 1 is a safety reversing aid system structural representation of the present invention.Among the figure, 1 is left side rear wheel rotation speed sensors, and 2 is left side front-wheel wheel speed sensors, and 3 is indication panel and loudspeaker, and 4 is controller, and 5 is the right side front wheel wheel speed sensors, and 6 is the right side rear wheel wheel speed sensors.

Fig. 2 is an indication panel of the present invention.Among the figure, 7 are the left side button that vertically stops, and 8 is the separatrix, parking stall, 9 are the left-hand rotation stop signal, and 10 is the left steering indicator signal, and 11 for moving ahead indicator signal, 12 are the stop signal that moves ahead, 13 are the right side button that vertically stops, and 14 are the right side button that laterally stops, and 15 are the right-hand rotation stop signal, 16 is the right turn indicator signal, 17 is back row indicator signal, and 18 be back row stop signal, and 19 is the left side button that laterally stops.

Fig. 3 is a safety reversing aid system schematic diagram of the present invention.Among the figure, 20 is the vehicle on the parking stall, rear portion, and 21 is reversing vehicle, and 22 is the vehicle on the anterior parking stall, and 23 is the parking stall.A is trailing wheel ground connection center, left side, and B is nosewheel contact center, left side, and C is right side front wheel ground connection center, and D is right side rear wheel ground connection center, and E is rear axle wheelspan center, and F is front axle wheelspan center, and O is the vehicle barycenter, and O ' is the Vehicular turn center, θ _rFor moving the angle of generation, θ behind the rear axle _F1For moving the angle of generation, θ after the right side front wheel _F2For moving the angle of generation behind the front-wheel of left side, θ is the angle of moving generation behind the vehicle barycenter.

Embodiment

Describe the present invention in detail with the safety reversing aid system schematic diagram below.

Safety reversing aid system schematic diagram such as Fig. 3, in the parking stall 23 before and after vehicle 21 will be poured between the vehicle 20,22, take turns the wheel speed sensors signal by each and can calculate in the reversing process a certain moment and respectively take turns the amount of moving behind the ground connection center, move δ after establishing left side trailing wheel ground connection center A _A, move δ behind the B of nosewheel contact center, left side _B, move δ after the right side front wheel ground connection center C _C, move δ behind the right side rear wheel ground connection center D _DCalculate the deflection angle θ that moves generation behind the vehicle barycenter behind the amount of the moving δ and vehicle body in view of the above, computation process is as follows, at first calculates the angle θ that moves generation behind the rear axle _r:

${\mathrm{\θ}}_r=\frac{{\mathrm{\δ}}_A-{\mathrm{\δ}}_D}{\mathrm{AD}}$

${\mathrm{DO}}^{\′}=\frac{{\mathrm{\δ}}_D}{{\mathrm{\θ}}_r}$

Determine the position of O ' by aforementioned calculation, calculated the angle θ that moves generation after the right side front wheel successively _F1, move the angle θ of generation behind the front-wheel of left side _R2:

${\mathrm{\&theta;}}_{\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="A20091008721000071.png"\; state="\{\{state\}\}">f</figure-callout>}1}=\frac{{\mathrm{\&delta;}}_B}{{\mathrm{BO}}^{\&prime;}}$

${\mathrm{\&theta;}}_{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="A20091008721000071.png"\; state="\{\{state\}\}">f</figure-callout>}2}=\frac{{\mathrm{\&delta;}}_C}{{\mathrm{CO}}^{\&prime;}}$

Because vehicle turns to when travelling at low speed and can think neutral steer, each wheel disk axis is given a bit, i.e. the Vehicular turn center O ', therefore, ideally, move the angle θ of generation behind the rear axle _r, move the angle θ of generation after the right side front wheel _F1, move the angle θ of generation behind the front-wheel of left side _F2All equate with the angle θ that moves generation behind the vehicle barycenter.But when actual measurement, consider and respectively take turns the wheel speed sensors signal errors, move δ behind the trailing wheel ground connection center A on the left of making _A, move δ behind the B of nosewheel contact center, left side _B, move δ after the right side front wheel ground connection center C _C, move δ behind the right side rear wheel ground connection center D _DThere is error, therefore, after removing the data dissimilarity, moves the deflection angle θ of generation behind the method calculating vehicle barycenter of employing arithmetic mean behind the amount of moving δ and the vehicle body:

$\mathrm{\&theta;}=\frac{{\mathrm{\&theta;}}_r+{\mathrm{\&theta;}}_{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="A20091008721000071.png"\; state="\{\{state\}\}">f</figure-callout>}2}+{\mathrm{\&theta;}}_{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="A20091008721000071.png"\; state="\{\{state\}\}">f</figure-callout>}2}}{3}$

δ＝θ×OO′

The angle θ that moves generation behind the vehicle barycenter promptly is the angle changing in vehicle body longitudinal centre line orientation, constantly measure calculating from the reversing beginning and can obtain each vehicle body orientation constantly the vehicle backing process, thereby by indication panel and loudspeaker the driver is carried out the car backing operation guiding according to this, the position is gone in assurance vehicle safety, convenience, reversing accurately.

Claims (4)

1, described a kind of safety reversing aid system is made up of wheel speed sensors (general former car is existing), controller, indication panel and loudspeaker, as Fig. 1.Controller receives the wheel speed sensors signal, obtains the vehicle heading parameter by calculating, sends the driver behavior instruction to indication panel and loudspeaker according to this, realizes the driver is carried out the car backing operation guiding, and the position is gone in assurance vehicle safety, convenience, reversing accurately.

2, receive the wheel speed sensors signal according to the described controller of claim 1, obtain the vehicle heading parameter by calculating, it is characterized in that, go out displacement and the sense of displacement that carve at a time at each wheel ground connection center by each vehicle wheel speed sensors calculated signals, and then calculate the displacement and the sense of displacement of vehicle barycenter by geometric relationship, constantly measure calculating from the reversing beginning and can obtain each vehicle body orientation constantly the vehicle backing process, thereby by indication panel and loudspeaker the driver is carried out the car backing operation guiding according to this.

3, according to claim 1 is described the driver is carried out the car backing operation guiding, it is characterized in that, carry out the vehicle operation that moves ahead, moves backward, turns left and turns right by indication panel and loudspeaker guiding driver, the driver can select to use independent indication panel guiding, loudspeaker guides and use simultaneously indication panel and loudspeaker to guide three kinds of patterns separately.

4, carry out car backing operation according to claim 3 is described by indication panel guiding driver, it is characterized in that, indication panel is provided with four reversing mode buttons 7,13,14,19, can select according to the reversing field condition, press a certain button and promptly selected this kind reversing mode, indication panel is provided with the arrow of four direction and stops sign, arrow 11 up and down, 17 represent respectively to move ahead and move backward, stop to indicate 12 up and down, 18 respectively expression move ahead and stop and reversing stops, left and right sides arrow 10,16 respectively the expression turn left to turn right to, about stop to indicate 9,15 represent respectively to stop left turning to and stop to turn to the right, light by above-mentioned Warning Mark flashes the guiding driver and carries out car backing operation, to guarantee vehicle safety, convenient, the position is gone in reversing accurately.

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