WO1995006305A1 - Traffic vehicle anti-collision method and apparatus - Google Patents

Traffic vehicle anti-collision method and apparatus Download PDF

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Publication number
WO1995006305A1
WO1995006305A1 PCT/CN1994/000065 CN9400065W WO9506305A1 WO 1995006305 A1 WO1995006305 A1 WO 1995006305A1 CN 9400065 W CN9400065 W CN 9400065W WO 9506305 A1 WO9506305 A1 WO 9506305A1
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WO
WIPO (PCT)
Prior art keywords
speed
distance
signal
microcomputer
vehicle
Prior art date
Application number
PCT/CN1994/000065
Other languages
French (fr)
Chinese (zh)
Inventor
Shunqing Xu
Original Assignee
Shunqing Xu
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shunqing Xu filed Critical Shunqing Xu
Priority to AU75297/94A priority Critical patent/AU7529794A/en
Publication of WO1995006305A1 publication Critical patent/WO1995006305A1/en

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the invention relates to a method for preventing collision of vehicles and a device thereof. Background technique
  • Vehicles such as trains, trains, ships, etc. may cause rear-end collisions and other collisions due to various reasons during the course of driving, or during the take-off or landing of an airplane.
  • the important reason for this type of accident is that, especially at high speeds, it is difficult for the driver to maintain a safe distance from obstacles such as vehicles in front by visual observation. In the event of an accident in front of the vehicle, it is difficult to respond in a timely manner. . For example, when a driver is driving a vehicle at a speed of 100 km / h and suddenly finds an accident in front of the vehicle to perform emergency braking, the driver sees the accident from his eyes, judges by his brain, and applies the appropriate brakes to his hands and feet. The movement of the car usually lasted at least 0.7 seconds.
  • Chinese Patent Publication CN 1055512A discloses an automatic control device for preventing collision of a motor vehicle.
  • the device includes: a wave transmitter installed at the rear of the vehicle capable of emitting multiple different transmission distances and frequencies; and installed at the front of the vehicle A wave receiver; a speed detector for detecting its own speed; a brake controller; a microprocessor, which measures the vehicle based on the speed detector
  • the receiving frequency of the receiver is set, and after the receiver receives the signal of the set frequency, it sends a signal to the brake controller and the like. Since the wave transmitter installed behind the car can emit a variety of waves with different frequencies, and according to different frequencies, its transmission distance, that is, the distance distributed behind the car, also varies. Therefore, if the car behind it is equipped with The wave receiver can determine the distance between the vehicle and the car in front from the frequency of the wave that the wave receiver can receive. Therefore, the automatic control device uses a microcomputer to set the frequency of the wave received by the wave receiver according to the measured vehicle speed, and actually sets a safe distance at the vehicle speed.
  • the microcomputer issues a brake instruction to brake the vehicle.
  • the device can overcome the shortage of human sensory organs. When the distance between vehicles is less than a safe distance, the device can make the vehicle brake by itself to ensure safety. However, only the vehicles in front can install this device, so the devices in the rear vehicles can work, so its practicability is very small; Moreover, the speed of cars driving on the highway can reach more than 140 km / h.
  • the safety distance should be more than 120 meters at the time. To ensure that the wave receivers on the rear cars more than 120 meters away can reliably receive the waves from the wave transmitters on the front cars, it must have high-quality and high-power waves.
  • the receiver can emit multiple waves with high power, accurate transmission distance, and accurate frequency. It must also have a receiver with good anti-interference performance. Otherwise, the device cannot operate reliably.
  • the device when the device detects that the vehicle distance is less than the safety distance, it sends a braking instruction to brake, causing the vibration and frequent braking during braking, and the passengers will feel uncomfortable.
  • Chinese Patent Laid-Open Publication No. 1049315A discloses a laser fixed-distance automatic braking system.
  • the system includes a laser transmitter, a reflected light detector, and a control circuit installed at the front of the vehicle.
  • the obstacle in front is reflected back and then received by the reflected light detector.
  • the time interval between the obstacles reflects the distance of the obstacle. Therefore, the device can be used for automatic braking at a fixed distance, that is, once the vehicle distance is less than the set safety The vehicle distance, the device issued a braking command.
  • the laser transmitter and the reflected light detector of the device are installed at the front of the same vehicle, and do not need to rely on signals from the vehicle in front, so it is more practical than the previous device that must rely on the waves from the vehicle in front to operate.
  • Laser ranging high accuracy.
  • such a device must still have two devices and two processes for transmitting and receiving. Not only is the structure complicated, but, as described in the patent publication, the device is only suitable for detecting forward vehicles within 18 meters.
  • the peak intensity is narrow pulses to ensure that the reflected light detector can reliably detect the reflection at a distance of 18 meters. Fired laser. In other words, when the detection distance is larger, the device cannot guarantee reliable operation.
  • this device is not suitable for use as a distance measuring device for collision prevention of a car running on a highway or a high-speed high-speed vehicle. If laser technology is used to make an anti-collision distance measuring device suitable for high-speed vehicles that can measure distances of more than 100 meters, the manufacturing cost must be very expensive, and it is impossible to use it in ordinary civilian transportation On application.
  • infrared, sonar, radar and other technologies can be used for dynamic distance measurement while driving. They each have their own advantages, but because they must transmit and receive two sets of equipment and two processes, so the current
  • they are used for dynamic ranging when they are used in civilian driving they all have their own problems, or their sensitivity and reliability are not good, or their anti-interference performance is insufficient, or their structures are too complicated and their costs are too high. Therefore, it is difficult to be practically applied.
  • an object of the present invention is to provide a more practical method for collision avoidance of a vehicle.
  • the method uses a currently mature and reliable visible light dynamic ranging technology to detect the distance between itself and an obstacle, and then a microcomputer Based on the measured distance and the self-speed detected by the speed detection device, a speed control judgment is made and the speed control signal is issued. Using this method to control the running speed is more convenient, reliable, and lower cost than the existing methods.
  • Another object of the present invention is to provide a collision avoidance device for a vehicle that implements the above method, that is, the device can detect the distance between itself and an obstacle using a currently mature visible light dynamic ranging device, so that the composition has high reliability and low cost. Low and more practical vehicle collision avoidance device.
  • the vehicle collision avoidance method provided by the present invention includes the following steps: 1.
  • the visible light dynamic ranging technology is used to detect the distance between the autofocus optical device and an obstacle.
  • the autofocus optical device automatically performs visible light after receiving visible light from the obstacle. Focus and input the signal when the focal length is aligned as a distance signal into the microcomputer; 2. Detect its own speed and input into the microcomputer; 3.
  • the microcomputer sends a speed control signal to the relevant speed control system according to the distance signal and speed signal measured above; 4.
  • the speed control system automatically controls the running speed according to the speed control signal from the microcomputer.
  • the vehicle collision avoidance device for implementing the above method provided by the present invention comprises: 1. visible light
  • the dynamic ranging device is an auto-focusing optical device. It has: an adjustable focus lens composed of a plurality of optical lenses, which can receive visible light from an obstacle and focus it on a miniature screen described below; a miniature screen composed of a photosensitive semiconductor Can receive the light focused by the adjustable focus lens and emit the corresponding light sensing signal; CPU (Central Processing Unit) for autofocus, which issues a focus instruction to the following focus driver according to the light sensing signal of the above-mentioned micro-screen; the focus driver, It adjusts the focal length of the adjustable focus lens according to the above-mentioned focus instruction to align the focal length, 2. a speed detection device that detects its own speed, 3.
  • CPU Central Processing Unit
  • control microcomputer connected to the dynamic distance measurement device and the speed detection device, and it will
  • the signal sent by the autofocus optical device when the focus is aligned is input as a distance signal, and the speed signal detected by the speed detection device is input, and compared with the speed-distance relationship stored in the microcomputer in advance, a speed control judgment is made, and the speed is determined.
  • the control system outputs the speed control signal.
  • Speed control system Control signal which controls the speed based on the speed.
  • the vehicle collision avoidance method and device provided by the present invention use visible light dynamic ranging technology to perform dynamic ranging, and the visible light dynamic ranging technology has been widely used in movie cameras, television cameras, automatic cameras, etc. and has reliable performance, such as
  • the camera-equipped car is in the international automobile cross-country race. When passing through desert swamps, etc., although the road and weather conditions are very bad, the camera still works normally. It took pictures of the forward scenery and driving while driving. The operating conditions of the staff for the purpose of accident analysis.
  • the technology mainly uses an optical device capable of auto-high-speed focusing in a video camera or an automatic camera. The optical device sends a signal after the object is automatically focused, so that the camera or the like automatically captures the image of the object.
  • the action is sensitive, Reliable; within 1 second, the camera can automatically focus and capture more than ten, dozens, or even hundreds of frames of very clear images, which can meet the needs of high-speed response; and can work reliably as long as there is visible light, can The scenes are taken at a considerable distance; there is no need to set up two sets of transmitting and receiving equipment, the structure is relatively simple and the cost is low.
  • this auto-focusing optical device for dynamic distance measurement can measure distances as close as a few centimeters and as far as more than 1 km (if a telephoto zoom lens comparable to a telescope is used, theoretically it can reach infinity), measurement accuracy High (ranging error is less than 1%), the ranging speed is high, the movement is very reliable, the cost is low, and it can be practically used.
  • FIG. 1 is a block diagram of a vehicle collision avoidance device according to an embodiment of the present invention.
  • Figure 2 Block diagram of the visible light dynamic ranging device in Figure 1.
  • Figure 3 Block diagram of the working process of the collision avoidance device in Figure 1.
  • Figure 4 Schematic diagram of the distance indicator of the collision avoidance device in Figure 1.
  • Figure 5 A schematic diagram of a speed limiter of the collision avoidance device in Figure 1.
  • FIG. 1 is a structural block diagram of an embodiment of an automobile collision avoidance device provided by the present invention.
  • 1 is a visible light dynamic ranging device
  • 2 is a speed detection device
  • 3 is a control microcomputer
  • 4 is a speed control system.
  • the present embodiment is also provided with a condition selection setting switch 5 for selecting and setting according to driving habits, roads, and weather conditions, a speedometer 6 indicating a detected own speed V (real), and indicating a dynamic state by visible light Indicator 7 for vehicle distance S (real) measured by the distance measuring device.
  • a condition selection setting switch 5 for selecting and setting according to driving habits, roads, and weather conditions
  • a speedometer 6 indicating a detected own speed V (real)
  • indicating a dynamic state by visible light Indicator 7 for vehicle distance S (real) measured by the distance measuring device.
  • the visible light dynamic ranging device 1 can adopt a variety of existing zoom autofocus optical devices in video cameras, movie cameras, and automatic cameras.
  • a zoom autofocus optical device in a MINOLTAGXI type automatic camera can be used.
  • the main structure of this kind of optical device is shown in Fig. 2.
  • 11 is an adjustable focus lens composed of a plurality of lenses located on the same optical axis. It focuses visible light from a subject on a miniature screen described below.
  • Reference numeral 12 is a zoom driver, which receives a zoom signal from the outside, and adjusts the focus lens 11 according to the zoom signal, so that it determines the distance range for capturing a scene, so that the focus lens 11 can accurately focus.
  • the micro-screen 13 is composed of a photosensitive semiconductor, and there are hundreds of light-sensing points distributed on the surface opposite to the focus lens 11. When visible light focused by the focus lens 11 is focused on When the micro-screen 13 receives light-sensitive spots, the micro-screen 13 sends a corresponding light-sensitive signal to the focus control CPU 14.
  • the CPU 14 receives the light sensing signal and issues a focus instruction to the focus driver 15.
  • the focus driver 15 includes a transmission mechanism such as a micromotor and a gear. They operate in accordance with a focus instruction issued by the focus control CPU 14 to cause the focus lens 11 to operate to adjust the focus.
  • the zoom autofocus optical device is agile, can capture at least hundreds of frames per second, and can shoot at a distance of at least 1 km. Its speed and measurable distance can fully meet the requirements of cars, trains or other vehicles at high speeds. The need for dynamic ranging for anti-collision purposes.
  • the signal when its focal length is aligned can be taken as the distance signal between it and an obstacle, because this signal corresponds to the actual distance Yes, its ranging error is less than 1%, and such ranging accuracy can also meet the needs of anti-collision ranging.
  • the measured distance signal is input to the headphone 3, and the distance indicator 7 is also input to indicate the actual distance.
  • Own speed detection device 2 and speed V (real) indicator table 6 can use the speed detection device and speedometer that are currently equipped on ordinary cars. If a digital speedometer is used, its signal can be used directly. If it is a voltage speedometer , You must first digitize it. Then, it is only necessary to input the digitized vehicle speed signal V (real) detected by the vehicle speed detection device into the microcomputer 3.
  • the relationship curve between the vehicle speed V and the safety distance S is stored in the memory 31 of the drone 3 in advance. This is in accordance with national driving regulations and driving habits, the weight of the vehicle, The braking speed and other conditions are set in consideration. For example, when the vehicle speed is 100 km / h, the current safety distance S (A) is generally set to 80 meters. If the device of the present invention is applied, the set safety distance can be greatly shortened, for example, within 20 meters.
  • condition selection setting switch 5 connected to the memory 3 is also set, and the V-S (A) curve and setting of the memory There are multiple selectable conditions for switch 5.
  • the condition selection switch 5 can be adjusted appropriately to select all A V-S curve of the memory used, for example, The 80-meter adjustment corresponding to 100 km / h is set to 90 meters or 100 meters, thereby ensuring that the road area can be fully utilized and safety can be ensured.
  • the microcomputer 3 is also provided with two comparators.
  • the comparator 32 inputs a vehicle speed signal V (real) from the vehicle speed detection device 2 and inputs the speed V set by the condition selection setting switch 5 in the memory 31.
  • the safety distance S ( An) relationship the two are compared, and the appropriate safety distance S (A) at the current speed is selected.
  • the comparator 33 inputs the distance signal S (real) from the visible light dynamic ranging device 1 described above, and then inputs the safety distance signal S (A) selected by the comparator 32, compares the two to make a speed control judgment, and outputs the Speed control signal.
  • the speed control signal output by the microcomputer 3 is input to the speed control system 4 after being amplified by power.
  • the speed control system 4 includes a speed-limiting damper control device, that is, a speed-limiting control servo motor, and a brake control device, that is, a brake-control servo motor.
  • the speed limit control device is shown in FIG. 5.
  • the speed limit signal output by the microcomputer 3 is amplified by the drive circuit 201 and input to the speed limit control servo motor 41, according to the speed limit signal, the servo motor 41 drives the worm 203 to rotate, driving The worm gear 204 rotates clockwise.
  • the connecting rod 205 pivoted at one end to the worm wheel 20 pushes the connecting rod 206 pivoted therewith, so that the connecting rod 206 further extends into the air inlet pipe 207 and bears against the damper valve 208, thus restricting the opening degree of the damper This reduces the amount of incoming air, thereby suppressing the burning speed of the oil and reducing the speed of the car.
  • the brake control servo motor controls the brake oil pump through a worm gear to achieve the purpose of braking.
  • the operation process of this embodiment is as follows.
  • the adjustment condition selection setting switch 5 is used to set a certain speed-distance relationship curve stored in the memory 31 in the microcomputer 3. Then, as shown in FIG. 1 and FIG. 3, after the car starts and activates the traffic collision avoidance device (step 100), the visible light dynamic ranging device 1 and its own vehicle speed detection device 2 start to work, respectively, and continuously detect the distance ( Step 101) and detecting the vehicle speed (Step 102).
  • the step 101 of detecting the distance is performed as follows:
  • the zoom autofocus optical device first inputs a vehicle speed signal from the vehicle speed detection device 2 and automatically zooms according to the vehicle speed signal to determine a distance measurement range, and then passes the micro screen, the CPU,
  • the focus driver performs focusing automatically, and the signal when the focus is aligned is taken out by the microcomputer 3 as a distance signal.
  • the measured distance signal S (real) and speed signal V (real) are continuously input to the microcomputer 3.
  • the comparator 32 in the microcomputer 3 has input the V-S (A) relationship curve set by the condition selection setting switch 5.
  • the detected vehicle speed V (real) is to compare the measured vehicle speed V (real) with the set V-S (A) and select a safety distance S (A) from it (step 103).
  • the comparator 33 in the microcomputer 3 inputs the distance signal S (real) measured by the visible light dynamic distance measuring device 1, and then inputs the selected safety distance S (A) from the comparator 32, and then compares the two (step 104). ), If S (actual) S (safety), the microcomputer 3 issues a speed limit command (step 105), the command is amplified by power, and is input to the speed control servo motor 41 in the speed control system, which is turned off by the servo motor.
  • the small damper is limited in speed, and at the same time, the comparator 33 again compares the measured distance signal S (real) with the selected safety distance signal S (A) (step 106). If S (real) is found to be less than or Equal to 0.9S (A), the microcomputer 3 sends a braking instruction to the brake control servo motor 42 to make the servo motor 42 rotate through a certain angle, and then through the worm and worm gear connected to the output shaft of the servo motor 42, The piston rod connected to the worm wheel is pushed, so that the piston of the brake oil pump is pushed forward a certain distance accordingly, so as to realize flexible braking. After speed limiting or braking, the actual vehicle speed and distance change.
  • the microcomputer 3 issues a braking command
  • its comparator 33 continues to compare the continuously measured distance S (real) with the S (safety) selected by the comparator 32 based on the current vehicle speed, and sequentially judges S (Solid) 0. 85 S (Annual)? 3 real ⁇ 0. 8 3 (A)? ... And sequentially turn the brake control servo motor 42 through the corresponding angle to achieve general braking.
  • the comparator 33 determines that the actual distance S (real) is equal to or smaller than the set emergency braking distance, for example, a safety distance equal to or less than 0.7 (step 108)
  • the microcomputer 3 issues an emergency braking instruction (step 109).
  • the command signal is sent to the braking servo motor 42 by power amplification, and the motor 42 is rotated by the maximum angle among the set rotation angles, and then the braking system realizes automatic emergency braking through a transmission mechanism such as a worm.
  • a transmission mechanism such as a worm.
  • the speed limit control servo motor 41 and the brake issues a reset command (steps 110 and 111) to reset it, and the vehicle can run normally.
  • the distance indicator 7 in this embodiment is composed of a plurality of small indicator lights 71 representing a certain distance segment, and according to the size of the distance they represent, They are arranged in order from small to large on the outer periphery of the speed indicator table 6, and the positions of the small indicator lights 71 are arranged according to the speed-distance relationship stored in the microcomputer 3. They are roughly corresponding to the speed scale of the speedometer, for example, the indicator distance is 80.
  • the meter indicator light 71 corresponds to a speedometer of 100 km / h.
  • the microcomputer 3 sends a command to light the corresponding indicator light according to the distance signal detected by the visible light dynamic ranging device 1.
  • the indicator light indicating 110 meters lights up.
  • the vehicle speed is as shown in FIG. 4 It is 110 meters, that is, the pointer 61 of the speedometer is still a short distance from the illuminated indicator light, indicating that it is safe at this time, and there is no need to limit or brake; if the speed at this time is close to 130 km / h, that is, The pointer 61 of the speedometer is moved to the corresponding position close to the light on the picture, indicating that the vehicle distance ⁇ is close to the limit of the safe distance.
  • each indicator light and speed scale shown in FIG. 4 is only an example, and can be set according to actual conditions.
  • the visible light dynamic ranging device uses a zoom autofocus optical device, which automatically zooms and then focuses according to the measured vehicle speed signal, that is, determines the distance of the measured distance before focusing, which can improve the focus.
  • a zoom autofocus optical device which automatically zooms and then focuses according to the measured vehicle speed signal, that is, determines the distance of the measured distance before focusing, which can improve the focus.
  • Precision, but non-zoom autofocus optics can also be used, because according to the highest driving speed of general cars (200 km / h), the required collision avoidance ranging range is not too far, up to 120 meters, such a distance range, Non-zoom autofocus optics can also accurately measure distances.
  • a zoom autofocusing optical device should be used.
  • the visible light dynamic ranging device can be selected according to the actual needs of the vehicle, especially the needs of the driving speed.
  • the microcomputer 3 first selects a safety distance according to the speed-distance relationship of the memory and the measured speed, and then compares the selected safety distance with the measured actual distance, and sends a speed control signal accordingly.
  • this is not the only control method.
  • the microcomputer 3 first selects the safe speed V (A) of its own driving according to the speed-distance relationship of the memory and the measured actual distance. Compare with the measured actual speed V (real), make a judgment based on this and send the judgment result, which is the corresponding speed control signal.
  • the speed-distance relationship curve in the memory 3 of the microcomputer 3 takes into account driving conditions, the weight of the car, and other conditions in addition to the driving regulations prescribed by the state.
  • the speed-distance relationship in the memory 3 of the microcomputer 3 can only refer to driving specifications, and set the driving conditions, the weight of the vehicle, and other conditions as the setting conditions, and then set the driving collision avoidance device on the vehicle.
  • the speed control system includes a speed-limiting servo motor 41 that controls a damper and the like, and a brake servo-motor 42 that controls an oil pump for braking, but in practice, various vehicles have various speed-limiting and braking systems and Its control system, so obviously, the speed control system can be completely not limited by the above embodiments.
  • the servo motor can be changed to a stepper motor, or it can be driven without a worm and worm gear, as long as it can execute the control according to the speed control signal from the microcomputer.
  • the task of speed control of the driving system is enough.
  • the distance measuring lens of the traffic collision avoidance device of the present invention can be deflected downward by an angle to detect the road surface. Conditions, automatic control is still possible.
  • the distance-measuring lens deflects an angle with the vehicle, and the vehicle in front leaves the detection range of the distance-measuring lens, and can overtake.
  • the vehicle collision avoidance device of the present invention when the aircraft takes off or lands, it can be used to detect whether there is an obstacle on the runway ahead and predict whether the landing point is correct, so as to determine whether it can take off or land, To ensure the safety of aircraft that used to rely primarily on the pilot's driving skills when taking off and landing.
  • the collision avoidance method and device of the vehicle according to the present invention can be applied not only to collision avoidance of automobiles, but also to collision avoidance of trains, collision avoidance of ships, and other higher speed vehicles such as airplanes. And, it will help fully automate the transportation of vehicles.

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Abstract

A method and apparatus are provided for preventing traffic vehicle from collision with an obstacle, in which the distance between the controlled vehicle and the obstacle is dynamically detected by a distance detector (1) using visible light, that is, an auto-focusing device which has been widely used now, in more detail, the signal when object is in in-focus is output as distance signal; the detected distance and the speed of vehicle detected in other way are input into a microcomputer (3), and are compared with a predetermined speed-distance relation by the microcomputer and determined, then the computer outputs the determined signal to control a speed control system (4). The present invention can automatically limit the speed or brake according to the vehicle speed and the distance between the vehicle and the obstacle to keep some distance between the vehicle and the obstacle during cruising and avoid collision.

Description

交通工具防撞方法及其装置 技术领域  Vehicle collision avoidance method and device
本发明涉及交通工具防撞方法及其装置。 背景技术  The invention relates to a method for preventing collision of vehicles and a device thereof. Background technique
汽车火车或轮船等车船在行驶过程中， 或飞机在起飞、降落过程 中，会由于多种原因而引发后车撞前车的行车追尾事故及其它相撞事 故。 发生此类事故的重要原因在于， 尤其在高速行驶的情况下， 驾驶 员很难凭视觉观察来保持与前方车辆等障碍物之间的安全距离， 一旦 前方车辆发生事故，便很难及时作出响应。 例如， 当驾驶员驾驶车辆 正以 100公里 /小时的速度行驶， 突然发现前方车辆发生事故而进行 紧急剎车时， 驾驶员从眼睛看到事故发生， 经大脑判断， 到手、脚作出 相应的剎车动作， 一般至少历时 0. 7秒钟， 此间， 车又向前行驶了 20 米，剎车后由于惯性， 车还会向前滑行约数十米。所以， 交通工具在行 驶中若不与前方障碍物保持一定的距离， 就很容易发生追尾事故等交 通事故。 为了交通安全， 行驶速度越高， 就应保持越大的与前方障碍 物的距离。 但是， 单凭肉眼很难判断与前方障碍物的距离及距离的变 化， 而且， 人类习惯于低速行走， 也习惯于在行走以至奔跑 （此时速 度也较低） 时与前方障碍物保持较短的距离。 所以， 即使有严格的行 车规范， 在高速公路上行驶时， 如果完全凭人的感觉器官操作， 驾驶 员也会自觉或不自觉地使自己的车辆与前方车辆间距离小于安全距 离， 有可能导致此类事故的发生。  Vehicles such as trains, trains, ships, etc. may cause rear-end collisions and other collisions due to various reasons during the course of driving, or during the take-off or landing of an airplane. The important reason for this type of accident is that, especially at high speeds, it is difficult for the driver to maintain a safe distance from obstacles such as vehicles in front by visual observation. In the event of an accident in front of the vehicle, it is difficult to respond in a timely manner. . For example, when a driver is driving a vehicle at a speed of 100 km / h and suddenly finds an accident in front of the vehicle to perform emergency braking, the driver sees the accident from his eyes, judges by his brain, and applies the appropriate brakes to his hands and feet. The movement of the car usually lasted at least 0.7 seconds. During this time, the car traveled another 20 meters forward. Due to the inertia after braking, the car would slide forward for about tens of meters. Therefore, if the vehicle does not maintain a certain distance from the obstacles in front of it, it is easy to cause traffic accidents such as rear-end collisions. For traffic safety, the higher the speed, the greater the distance from the obstacles ahead. However, it is difficult to judge the distance to the obstacle in front and the change in distance by the naked eye alone. Moreover, humans are accustomed to walking at low speeds, and are also used to keep short with obstacles in front when walking or running (at this time, the speed is also low). distance. Therefore, even if there are strict driving regulations, when driving on the highway, if the driver's senses are operated completely, the driver will consciously or unconsciously make the distance between his vehicle and the vehicle in front smaller than the safety distance, which may cause This kind of accident happened.
为了防止发生行车相撞事故， 人们已研究出了多种行车安全控制 装置。例如， 中囯专利公开 CN 1055512A公报公开了一种机动车辆预 防追撞自动控制装置， 该装置包括： 装在车后部的能发出多个不同发 射距离和频率的发波器； 装在车前部的收波器； 检测自身车速用的车 速检测器； 煞车控制器； 微处理机， 它根据上述车速检测器测出的车  In order to prevent traffic collisions, various traffic safety control devices have been developed. For example, Chinese Patent Publication CN 1055512A discloses an automatic control device for preventing collision of a motor vehicle. The device includes: a wave transmitter installed at the rear of the vehicle capable of emitting multiple different transmission distances and frequencies; and installed at the front of the vehicle A wave receiver; a speed detector for detecting its own speed; a brake controller; a microprocessor, which measures the vehicle based on the speed detector
确认本 速， 设定上述收波器的接收频率， 并于收波器收到该设定频率的讯号 后， 对煞车控制器等发出讯号。 由于装在车后的发波器能发出多种不 同频率的波， 且按频率的不同， 其发射距离即分布于车后的距离也各 不相同， 所以， 紧随其后的车若装有收波器， 从收波器能收到的波的 频率便可确定自身与前方车的车距。 所以， 该自动控制装置利用微机 根据测出的车速设定收波器接收波的频率， 实际上设定了在该车速下 的安全车距， 一旦收波器收到了该设定的频率， 即表明车距已小于安 全车距，微机便发出剎车指令， 使车辆刹车。 该装置可克服人的感觉 器官的不足， 当车距小于安全距离时， 该装置可使车辆自行剎车以保 证安全。 但是， 只有前面的车辆装上这种装置， 后面车辆上的这种装 置才能起作用， 因此其实用性很小； 而且， 在高速公路上行驶的汽车， 车速可达 140公里 /小时以上， 此时的安全距离应保持 120米以上， 要保证相距 120米以上的后面的车上的收波器能可靠地接收到前面车 上发波器发出的波， 就必须有高质量高功率的发波器， 能发出多个功 率高、发射距离准确且与频率准确对应的波， 也必须有抗干扰性能好 的收波器， 不然， 该装置就不能可靠地动作。 Confirm this Speed, the receiving frequency of the receiver is set, and after the receiver receives the signal of the set frequency, it sends a signal to the brake controller and the like. Since the wave transmitter installed behind the car can emit a variety of waves with different frequencies, and according to different frequencies, its transmission distance, that is, the distance distributed behind the car, also varies. Therefore, if the car behind it is equipped with The wave receiver can determine the distance between the vehicle and the car in front from the frequency of the wave that the wave receiver can receive. Therefore, the automatic control device uses a microcomputer to set the frequency of the wave received by the wave receiver according to the measured vehicle speed, and actually sets a safe distance at the vehicle speed. Once the wave receiver receives the set frequency, that is, Indicating that the distance between the vehicles is less than the safe distance, the microcomputer issues a brake instruction to brake the vehicle. The device can overcome the shortage of human sensory organs. When the distance between vehicles is less than a safe distance, the device can make the vehicle brake by itself to ensure safety. However, only the vehicles in front can install this device, so the devices in the rear vehicles can work, so its practicability is very small; Moreover, the speed of cars driving on the highway can reach more than 140 km / h. The safety distance should be more than 120 meters at the time. To ensure that the wave receivers on the rear cars more than 120 meters away can reliably receive the waves from the wave transmitters on the front cars, it must have high-quality and high-power waves. The receiver can emit multiple waves with high power, accurate transmission distance, and accurate frequency. It must also have a receiver with good anti-interference performance. Otherwise, the device cannot operate reliably.
此外， 该装置一旦测出车距已小于安全车距， 即发出剎车指令进 行剎车， 致使剎车时振动大及频繁刹车， 乘坐者会感到不舒服。  In addition, when the device detects that the vehicle distance is less than the safety distance, it sends a braking instruction to brake, causing the vibration and frequent braking during braking, and the passengers will feel uncomfortable.
另外， 中国专利公开公报第 1049315A号公开了一种激光定距自 动剎车***， 该***包括装于车辆前部的激光发射器、反射光探测器 及控制电路， 激光发射器发出的激光如遇到前方障碍物被反射回来， 后由反射光探测器接收， 此间的时间间隔便反映出障碍物的距离， 所 以利用该装置可实现定距自动剎车， 即， 一旦车距小于设定的安全车 距， 该装置便发出剎车指令。 该装置的激光发射器和反射光探测器安 装于同一辆车的前部， 不必依靠前方车辆发出的信号， 所以比前一种 必须依赖前方车发出的波才能动作的装置具有实用性， 而且利用激光 测距， 精度很高。 但是， 这种装置仍必须有发射、接收这样两个设备、 两个过程， 不仅结构复杂， 而且， 正如该专利公报记载的， 该装置仅 适用于探测 18米以内的前方车辆，为了提高脉冲激光的峰值强度，采 用了窄脉冲， 以保证在 18米距离内反射光探测器能可靠地探测到反 射的激光。 换言之， 探测距离更大时， 该装置便不能保证可靠地动作， 因此， 这种装置不适于用作在高速公路上行驶的汽车或更高速的高速 交通工具的防撞用测距装置。 若要利用激光技术制成能测距 100米以 上的、适用于高速行驶汽车的防撞用测距装置， 就目前的技术发展水 平来看， 制造成本一定十分昂贵， 不可能在普通民用交通工具上应 用。 In addition, Chinese Patent Laid-Open Publication No. 1049315A discloses a laser fixed-distance automatic braking system. The system includes a laser transmitter, a reflected light detector, and a control circuit installed at the front of the vehicle. The obstacle in front is reflected back and then received by the reflected light detector. The time interval between the obstacles reflects the distance of the obstacle. Therefore, the device can be used for automatic braking at a fixed distance, that is, once the vehicle distance is less than the set safety The vehicle distance, the device issued a braking command. The laser transmitter and the reflected light detector of the device are installed at the front of the same vehicle, and do not need to rely on signals from the vehicle in front, so it is more practical than the previous device that must rely on the waves from the vehicle in front to operate. Laser ranging, high accuracy. However, such a device must still have two devices and two processes for transmitting and receiving. Not only is the structure complicated, but, as described in the patent publication, the device is only suitable for detecting forward vehicles within 18 meters. In order to improve the pulsed laser The peak intensity is narrow pulses to ensure that the reflected light detector can reliably detect the reflection at a distance of 18 meters. Fired laser. In other words, when the detection distance is larger, the device cannot guarantee reliable operation. Therefore, this device is not suitable for use as a distance measuring device for collision prevention of a car running on a highway or a high-speed high-speed vehicle. If laser technology is used to make an anti-collision distance measuring device suitable for high-speed vehicles that can measure distances of more than 100 meters, the manufacturing cost must be very expensive, and it is impossible to use it in ordinary civilian transportation On application.
此外， 可使用于行车时动态测距的， 还有红外、声纳、雷达等技 术， 它们各有各的优点， 但由于都必需发射、接收'两套设备， 两个过 程， 所以就目前的技术发展水平而言， 若将它们使用于民用行车时的 动态测距， 均存在各自的问题， 或者灵敏性、可靠性欠佳， 或者抗干扰 性能嫌不足， 或结构太复杂、成本太高， 所以均难以实际应用。 发明内容  In addition, infrared, sonar, radar and other technologies can be used for dynamic distance measurement while driving. They each have their own advantages, but because they must transmit and receive two sets of equipment and two processes, so the current At the level of technological development, if they are used for dynamic ranging when they are used in civilian driving, they all have their own problems, or their sensitivity and reliability are not good, or their anti-interference performance is insufficient, or their structures are too complicated and their costs are too high. Therefore, it is difficult to be practically applied. Summary of the Invention
鉴于上述情况， 本发明的目的在于， 提供一种更具实用性的交通 工具防撞方法， 该方法利用一种目前成熟因而可靠的可见光动态测距 技术检测自身与障碍物的距离， 再由微机根据测出的上述距离及速度 检测装置测出的自身速度， 作出速度控制的判断并发出该速度控制信 号， 用此方法控制行驶速度， 比现有方法更方便、可靠、成本较低。  In view of the foregoing, an object of the present invention is to provide a more practical method for collision avoidance of a vehicle. The method uses a currently mature and reliable visible light dynamic ranging technology to detect the distance between itself and an obstacle, and then a microcomputer Based on the measured distance and the self-speed detected by the speed detection device, a speed control judgment is made and the speed control signal is issued. Using this method to control the running speed is more convenient, reliable, and lower cost than the existing methods.
本发明的又一目的在于， 提供一种实施上述方法的交通工具防撞 装置， 即该装置可利用目前成熟的可见光动态测距装置检测自身与障 碍物的距离， 以便组成可靠性高、成本较低、更具有实用性的交通工具 防撞装置。  Another object of the present invention is to provide a collision avoidance device for a vehicle that implements the above method, that is, the device can detect the distance between itself and an obstacle using a currently mature visible light dynamic ranging device, so that the composition has high reliability and low cost. Low and more practical vehicle collision avoidance device.
本发明提供的交通工具防撞方法包括如下步骤： 1.利用可见光动 态测距技术即自动对焦光学装置检测自身与障碍物的距离， 具体是， 自动对焦光学装置接受来自障碍物的可见光后自动进行对焦， 并将焦 距对准时的信号作为距离信号输入微机； 2.检测自身速度并输入微 机； 3.由微机根据上述测出的距离信号和速度信号， 向有关的速度控 制***发出速度控制信号； 4.速度控制***根据来自微机的速度控制 信号， 自动控制行驶速度。  The vehicle collision avoidance method provided by the present invention includes the following steps: 1. The visible light dynamic ranging technology is used to detect the distance between the autofocus optical device and an obstacle. Specifically, the autofocus optical device automatically performs visible light after receiving visible light from the obstacle. Focus and input the signal when the focal length is aligned as a distance signal into the microcomputer; 2. Detect its own speed and input into the microcomputer; 3. The microcomputer sends a speed control signal to the relevant speed control system according to the distance signal and speed signal measured above; 4. The speed control system automatically controls the running speed according to the speed control signal from the microcomputer.
本发明提供的实施上述方法的交通工具防撞装置包括： 1.可见光 动态测距装置即自动对焦光学装置， 它具有： 由多个光学透镜组成的 可调焦镜头， 能接受来自障碍物的可见光并将其聚焦于下述的微型屏 幕； 由感光半导体构成的微型屏幕， 能接受上述经可调焦镜头聚焦的 光并发出相应的感光信号； 自动对焦用 CPU (中央处理单元），它根据 上述微型屏幕的感光信号向下述的对焦驱动器发出对焦指令； 对焦驱 动器， 它根据上述对焦指令调节上述可调焦镜头的焦距， 使焦距对 准， 2.检测自身速度的速度检测装置， 3.与上述动态测距装置及速度 检测装置分别连接的控制用微机， 它将上述自动对焦光学装置在焦距 对准时发出的信号作为距离信号输入， 再输入上述速度检测装置测出 的速度信号， 与预先存入微机的速度一距离关系作比较， 作出速度控 制判断， 并向速度控制***输出该速度控制信号， 4.速度控制***， 它根据上述速度控制信号控制速度。 The vehicle collision avoidance device for implementing the above method provided by the present invention comprises: 1. visible light The dynamic ranging device is an auto-focusing optical device. It has: an adjustable focus lens composed of a plurality of optical lenses, which can receive visible light from an obstacle and focus it on a miniature screen described below; a miniature screen composed of a photosensitive semiconductor Can receive the light focused by the adjustable focus lens and emit the corresponding light sensing signal; CPU (Central Processing Unit) for autofocus, which issues a focus instruction to the following focus driver according to the light sensing signal of the above-mentioned micro-screen; the focus driver, It adjusts the focal length of the adjustable focus lens according to the above-mentioned focus instruction to align the focal length, 2. a speed detection device that detects its own speed, 3. a control microcomputer connected to the dynamic distance measurement device and the speed detection device, and it will The signal sent by the autofocus optical device when the focus is aligned is input as a distance signal, and the speed signal detected by the speed detection device is input, and compared with the speed-distance relationship stored in the microcomputer in advance, a speed control judgment is made, and the speed is determined. The control system outputs the speed control signal. 4. Speed control system Control signal which controls the speed based on the speed.
本发明提供的交通工具防撞方法及其装置利用可见光动态测距技 术进行动态测距， 而可见光动态测距技术已被广泛应用于电影摄影 机、电视摄象机、自动照相机等且性能可靠， 例如装有摄象机的赛车在 国际汽车越野赛中， 在途经沙漠沼泽等时， 虽然所处的道路、气候条 件十分恶劣，摄象机仍正常地工作， 摄下了行车途中的前方景物及驾 驶员的操作状况， 以备事后作事故分析之用。 该技术主要是利用摄影 机、自动照相机中的能自动高速对焦的光学装置， 该光学装置对被摄 物自动对焦后便发出信号， 使摄象机等自动摄下被摄物的图像， 动作 灵敏、可靠； 在 1秒钟内， 摄象机可自动对焦并摄取十多帧、几十帧甚 至数百帧十分清晰的图像， 能适应高速响应的需要； 而且只要有可见 光便能可靠地工作， 可摄取距离相当远处的景物； 不必设置发射、接 收两套设备，结构较简单， 成本较低。所以，利用这种自动对焦光学装 置进行动态测距， 可测距离近至数厘米， 远至 1公里以上 （若用可与 望远镜媲美的长焦距变焦镜头， 理论上可达无限远）， 测量精度高 （测 距误差小于 1%)，测距速度高且动作十分可靠， 成本较低， 完全可以 实用化。  The vehicle collision avoidance method and device provided by the present invention use visible light dynamic ranging technology to perform dynamic ranging, and the visible light dynamic ranging technology has been widely used in movie cameras, television cameras, automatic cameras, etc. and has reliable performance, such as The camera-equipped car is in the international automobile cross-country race. When passing through desert swamps, etc., although the road and weather conditions are very bad, the camera still works normally. It took pictures of the forward scenery and driving while driving. The operating conditions of the staff for the purpose of accident analysis. The technology mainly uses an optical device capable of auto-high-speed focusing in a video camera or an automatic camera. The optical device sends a signal after the object is automatically focused, so that the camera or the like automatically captures the image of the object. The action is sensitive, Reliable; within 1 second, the camera can automatically focus and capture more than ten, dozens, or even hundreds of frames of very clear images, which can meet the needs of high-speed response; and can work reliably as long as there is visible light, can The scenes are taken at a considerable distance; there is no need to set up two sets of transmitting and receiving equipment, the structure is relatively simple and the cost is low. Therefore, using this auto-focusing optical device for dynamic distance measurement can measure distances as close as a few centimeters and as far as more than 1 km (if a telephoto zoom lens comparable to a telescope is used, theoretically it can reach infinity), measurement accuracy High (ranging error is less than 1%), the ranging speed is high, the movement is very reliable, the cost is low, and it can be practically used.
此外， 使用自动对焦光学装置进行自动测距， 并通过微机进行速 度控制， 不仅能克服人的感觉器官的不足， 准确地自动进行测距及高 速响应， 自动地控制速度， 而且由于能高速自动响应， 行驶时不必为 了保证安全而保持过大的距离。因此，使用本发明所述的方法和装置， 特别对于道路面积有限的道路行车， 可在保证行车安全的前提下， 充 分利用道路面积。 附图概述: In addition, the use of autofocus optics for automatic distance measurement and speed control through a microcomputer not only overcomes the shortcomings of human sensory organs, but also accurately performs distance measurement and high accuracy. Quick response, automatic speed control, and because of high-speed automatic response, you do not need to maintain an excessive distance when driving to ensure safety. Therefore, using the method and the device of the present invention, in particular for road traffic with limited road area, the road area can be fully utilized on the premise of ensuring driving safety. Brief description of the drawings:
图 1 :本发明所述交通工具防撞装置一实施例即一种行车防撞装 置的构成框图。  FIG. 1 is a block diagram of a vehicle collision avoidance device according to an embodiment of the present invention.
图 2 :图 1 中可见光动态测距装置的构成框图。  Figure 2: Block diagram of the visible light dynamic ranging device in Figure 1.
图 3 :图 1中行车防撞装置的工作流程框图。  Figure 3: Block diagram of the working process of the collision avoidance device in Figure 1.
图 4 :图 1 中行车防撞装置的距离指示灯的示意图。  Figure 4: Schematic diagram of the distance indicator of the collision avoidance device in Figure 1.
图 5 :图 1中行车防撞装置的一种限速装置示意图。 本发明的实施方式  Figure 5: A schematic diagram of a speed limiter of the collision avoidance device in Figure 1. Embodiments of the invention
以下结合附图进一步说明本发明的构成及作用效果。  The structure and effects of the present invention will be further described below with reference to the drawings.
图 1是本发明提供的一种汽车用行车防撞装置一实施例的构成框 图。 如图所示， 1是可见光动态测距装置， 2是速度检测装置， 3是控 制用微机， 4是速度控制***。此外，本实施例还设有按驾驶习惯、道路 和气候等条件作选择设定用的条件选择设定开关 5，指示检测出的自 身速度 V (实） 的速度表 6，以及指示由可见光动态测距装置测出的车 距 S (实） 的指示灯 7。  FIG. 1 is a structural block diagram of an embodiment of an automobile collision avoidance device provided by the present invention. As shown in the figure, 1 is a visible light dynamic ranging device, 2 is a speed detection device, 3 is a control microcomputer, and 4 is a speed control system. In addition, the present embodiment is also provided with a condition selection setting switch 5 for selecting and setting according to driving habits, roads, and weather conditions, a speedometer 6 indicating a detected own speed V (real), and indicating a dynamic state by visible light Indicator 7 for vehicle distance S (real) measured by the distance measuring device.
可见光动态测距装置 1，可采用现有的多种摄像机、电影摄影机及 自动照相机中的变焦自动对焦光学装置，例如可采用 MINOLTAGXI 型等等的自动照相机中的变焦自动对焦光学装置。 该种光学装置的主 要构成如图 2所示， 11是由多个位于同一光轴的透镜组成的可调焦镜 头， 它将来自被摄物的可见光聚焦于下述的微型屏幕。 12是变焦驱动 器， 它接受来自外界的变焦信号， 并根据该变焦信号调节可调焦镜头 11， 使其确定摄取景物的距离范围， 以便于可调焦镜头 11能精确对 焦。 微型屏幕 13由感光半导体构成， 其于和可调焦镜头 11相对的面 上分布有数百个感光点， 当经过可调焦镜头 11聚焦的可见光聚焦于 该微型屏幕 13上的感光点时，微型屏幕 13便向对焦控制用 CPU 14 发出相应的感光信号。 CPU 14接受到该感光信号， 便向对焦驱动器 15发出对焦指令。对焦驱动器 15包括微型电动机及齿轮等传动机构， 它们按对焦控制用 CPU 14发出的对焦指令动作， 使可调焦镜头 11 动作以调节焦距。.当调节到经可调焦镜头 11聚焦的光点直径最小，在 微型屏幕 13上形成的感光图像最清晰时， 即焦距已对准时， CPU 即 发出相应的信号， 与此同时， CPU 向快门等自动照相机中的自动摄片 机构发出曝光指令，使其拍摄出十分清晰的相片。 该变焦自动对焦光 学装置动作敏捷， 每秒钟可拍摄至少数百帧图像， 可清晰拍摄的距离 至少可达 1公里， 其速度、可测距离完全可满足汽车、火车或其它交通 工具在高速行驶时， 用于防撞目的的动态测距的需要。 若将该种变焦 自动对焦镜头用作汽车的可见光动态测距装置 1，可将其焦距对准时 的信号当作其与障碍物间的距离信号取出， 因为该信号与实际的距离 是一一对应的，其测距误差小于 1%，这样的测距精度也能满足防撞测 距的需要。测出的距离信号输入徼机 3，同时输入距离指示灯 7 以指示 实际距离。 The visible light dynamic ranging device 1 can adopt a variety of existing zoom autofocus optical devices in video cameras, movie cameras, and automatic cameras. For example, a zoom autofocus optical device in a MINOLTAGXI type automatic camera can be used. The main structure of this kind of optical device is shown in Fig. 2. 11 is an adjustable focus lens composed of a plurality of lenses located on the same optical axis. It focuses visible light from a subject on a miniature screen described below. Reference numeral 12 is a zoom driver, which receives a zoom signal from the outside, and adjusts the focus lens 11 according to the zoom signal, so that it determines the distance range for capturing a scene, so that the focus lens 11 can accurately focus. The micro-screen 13 is composed of a photosensitive semiconductor, and there are hundreds of light-sensing points distributed on the surface opposite to the focus lens 11. When visible light focused by the focus lens 11 is focused on When the micro-screen 13 receives light-sensitive spots, the micro-screen 13 sends a corresponding light-sensitive signal to the focus control CPU 14. The CPU 14 receives the light sensing signal and issues a focus instruction to the focus driver 15. The focus driver 15 includes a transmission mechanism such as a micromotor and a gear. They operate in accordance with a focus instruction issued by the focus control CPU 14 to cause the focus lens 11 to operate to adjust the focus. When the diameter of the light spot focused by the adjustable focus lens 11 is minimized, and the photosensitive image formed on the micro-screen 13 is the clearest, that is, when the focal length is aligned, the CPU sends a corresponding signal, and at the same time, the CPU sends a signal to the shutter Wait for the automatic shooting mechanism in the automatic camera to issue an exposure instruction to make it take a very clear picture. The zoom autofocus optical device is agile, can capture at least hundreds of frames per second, and can shoot at a distance of at least 1 km. Its speed and measurable distance can fully meet the requirements of cars, trains or other vehicles at high speeds. The need for dynamic ranging for anti-collision purposes. If this kind of zoom autofocus lens is used as a visible light dynamic ranging device 1 of a car, the signal when its focal length is aligned can be taken as the distance signal between it and an obstacle, because this signal corresponds to the actual distance Yes, its ranging error is less than 1%, and such ranging accuracy can also meet the needs of anti-collision ranging. The measured distance signal is input to the headphone 3, and the distance indicator 7 is also input to indicate the actual distance.
自身车速检测装置 2及车速 V (实） 指示表 6可利用现在一般汽 车上已装备的车速检测装置及车速表， 若使用的是数字式车速表， 可 直接使用其信号，若是电压式车速表，则须先将其数字化。然后， 只要 将车速检测装置测出的该数字化的车速信号 V (实） 输入微机 3 即可。  Own speed detection device 2 and speed V (real) indicator table 6 can use the speed detection device and speedometer that are currently equipped on ordinary cars. If a digital speedometer is used, its signal can be used directly. If it is a voltage speedometer , You must first digitize it. Then, it is only necessary to input the digitized vehicle speed signal V (real) detected by the vehicle speed detection device into the microcomputer 3.
在本实施例中， 在徼机 3 的存储器 31 中， 预先存入了车速 V与 安全距离 S即允许距离的关系曲线， 这是按照囯家的行车规范以及驾 驶***时保持更大的车距时， 可适当调节该条件选择设定开 关 5，从而选定所使用的内存的某一条 V— S 曲线， 例如， 将原来与 100公里 /小时对应的 80米调节设定为 90米或 100米， 从而保证既 能充分利用道路面积， 又能确保安全。 In this embodiment, the relationship curve between the vehicle speed V and the safety distance S, that is, the allowable distance, is stored in the memory 31 of the drone 3 in advance. This is in accordance with national driving regulations and driving habits, the weight of the vehicle, The braking speed and other conditions are set in consideration. For example, when the vehicle speed is 100 km / h, the current safety distance S (A) is generally set to 80 meters. If the device of the present invention is applied, the set safety distance can be greatly shortened, for example, within 20 meters. For another example, in order to be able to adapt to different road conditions and different climatic conditions such as rainy, snowy and foggy days, a condition selection setting switch 5 connected to the memory 3 is also set, and the V-S (A) curve and setting of the memory There are multiple selectable conditions for switch 5. Correspondingly, when the road conditions are poor or the distance between snow and snow needs to be greater than usual, the condition selection switch 5 can be adjusted appropriately to select all A V-S curve of the memory used, for example, The 80-meter adjustment corresponding to 100 km / h is set to 90 meters or 100 meters, thereby ensuring that the road area can be fully utilized and safety can be ensured.
微机 3 中还设有两个比较器， 比较器 32输入来自车速检测装置 2 的车速信号 V (实），并输入存储器 31 中经条件选择设定开关 5设定的 速度 V—安全距离 S (安） 关系， 将两者作比较， 选定在当时车速下的 合适的安全距离 S(安）。 比较器 33输入来自上述可见光动态测距装置 1 的距离信号 S (实），再输入比较器 32选定的安全距离信号 S (安），将 两者作比较后作出速度控制判断， 并输出该速度控制信号。  The microcomputer 3 is also provided with two comparators. The comparator 32 inputs a vehicle speed signal V (real) from the vehicle speed detection device 2 and inputs the speed V set by the condition selection setting switch 5 in the memory 31. The safety distance S ( An) relationship, the two are compared, and the appropriate safety distance S (A) at the current speed is selected. The comparator 33 inputs the distance signal S (real) from the visible light dynamic ranging device 1 described above, and then inputs the safety distance signal S (A) selected by the comparator 32, compares the two to make a speed control judgment, and outputs the Speed control signal.
微机 3输出的速度控制信号经功率放大后输入速度控制*** 4。 在本实施例中速度控制*** 4包括限速用风门控制装置即限速控制用 伺服电机和制动用控制装置即制动控制用伺服电机。 限速控制装置如 图 5所示， 当微机 3输出的限速信号经驱动电路 201 的放大， 输入限 速控制用伺服电机 41 时， 根据该限速信号， 伺服电机 41驱使蜗杆 203转动， 带动蜗轮 204 向顺时钟方向转动。 于是， 一端枢接于蜗轮 20 的连杆 205便推动与之枢接的连杆 206，使连杆 206进一步伸入进 风管 207 内， 顶住风门阀 208，这样便限制了风门的开度，使进入的空 气量减少， 从而抑制了油的燃烧速度， 使汽车速度降低。 制动控制用 伺服电机则通过蜗杆蜗轮控制制动用油泵， 实现制动目的。  The speed control signal output by the microcomputer 3 is input to the speed control system 4 after being amplified by power. In this embodiment, the speed control system 4 includes a speed-limiting damper control device, that is, a speed-limiting control servo motor, and a brake control device, that is, a brake-control servo motor. The speed limit control device is shown in FIG. 5. When the speed limit signal output by the microcomputer 3 is amplified by the drive circuit 201 and input to the speed limit control servo motor 41, according to the speed limit signal, the servo motor 41 drives the worm 203 to rotate, driving The worm gear 204 rotates clockwise. As a result, the connecting rod 205 pivoted at one end to the worm wheel 20 pushes the connecting rod 206 pivoted therewith, so that the connecting rod 206 further extends into the air inlet pipe 207 and bears against the damper valve 208, thus restricting the opening degree of the damper This reduces the amount of incoming air, thereby suppressing the burning speed of the oil and reducing the speed of the car. The brake control servo motor controls the brake oil pump through a worm gear to achieve the purpose of braking.
本实施例的动作过程如下。  The operation process of this embodiment is as follows.
首先根据路面及气候条件，调节条件选择设定开关 5，以设定使用 微机 3 中存储器 31所存储的某一条速度一距离关系曲线。然后如图 1 、图 3所示， 当汽车启动并启动该行车防撞装置（步骤 100)后， 可见光 动态测距装置 1和自身车速检测装置 2便分别开始工作， 分别连续不 断地检测距离 （步骤 101)和检测车速 （步骤 102)。 其中， 检测距离的 步骤 101是如下进行的： 变焦自动对焦光学装置先输入来自车速检测 装置 2 的车速信号， 并根据该车速信号自动变焦以确定测距的范围， 然后再通过微型屏幕、 CPU、对焦驱动器自动进行对焦， 而焦距对准时 的信号作为距离信号则由微机 3取出。 测出的距离信号 S (实）和速度 信号 V (实）连续不断地被输入微机 3。此时微机 3中的比较器 32 已输 入了由条件选择设定开关 5设定的 V—S (安） 关系曲线， 一旦再输入 检测出的车速 V (实），即将测出的车速 V (实） 与设定的 V— S (安） 关 系作比较，从中选定安全距离 S (安）（步骤 103)。微机 3 中的比输器 33 输入可见光动态测距装置 1 测出的距离信号 S (实），再输入来自比较 器 32的选定安全距离 S (安），然后比较两者的大小 （步骤 104)， 若 S (实） S (安），微机 3 即发出限速指令 （步骤 105)， 该指令经功率放 大， 输入速度控制***中的限速控制用伺服电机 41， 通过该伺服电机 来关小风门以限速， 与此同时， 比较器 33再次对测出的距离信号 S (实） 与选定的安全距离信号 S (安） 进行比较 （步骤 106)， 若发现 S (实）小于或等于 0. 9S(安），微机 3便向制动控制用伺服电机 42发出 制动指令， 使该伺服电机 42转过一定的角度， 进而通过与伺服电机 42的输出轴连接的蜗杆、蜗轮， 推动与蜗轮相连的活塞杆， 从而使制 动用油泵的活塞相应地推进一定的距离， 实现柔性制动。 进行限速或 制动后，实际的车速及车距便发生变化。另一方面，微机 3发出制动指 令后， 其比较器 33继续对不断测出的车距 S (实）和根据当时的车速， 由比较器 32选定的 S (安）进行比较，依次判别 S (实) 0. 85 S (安）？ 3实<0. 8 3 (安）？……，并依次使制动控制用伺服电机 42再转过相应 角度，实现一般制动。一旦比较器 33判别出实际距离 S (实） 已等于或 小于设定的紧急剎车距离例如已等于或小于 0. 7 的安全距离 （步骤 108)，微机 3便发出紧急剎车指令 （步骤 109)， 该指令信号经功率放 大送入制动用伺服电机 42，使电机 42转动所设定转角中的最大角度， 再通过蜗杆等传动机构， 使剎车***实现自动紧急剎车。 这样， 由于 微机 3对测出的距离与选定的安全距离间的差距是由小至大依次作出 判断并依次发出指令， 使制动控制用伺服电机 42及其所控制的剎车 ***的动作也由小至大连续性地进行即进行柔性制动， 所以制动动作 较平稳。如果经过限速或制动控制后，微机 3的比较器 33判别出测得 的实际距离 S (实） 已大于设定的安全距离 S (安），即向限速控制用伺 服电机 41和制动控制用伺服电机 42发出复位指令 （步骤 110和步骤 111)使其复位， 车辆便可正常行驶。 First, according to the road surface and weather conditions, the adjustment condition selection setting switch 5 is used to set a certain speed-distance relationship curve stored in the memory 31 in the microcomputer 3. Then, as shown in FIG. 1 and FIG. 3, after the car starts and activates the traffic collision avoidance device (step 100), the visible light dynamic ranging device 1 and its own vehicle speed detection device 2 start to work, respectively, and continuously detect the distance ( Step 101) and detecting the vehicle speed (Step 102). The step 101 of detecting the distance is performed as follows: The zoom autofocus optical device first inputs a vehicle speed signal from the vehicle speed detection device 2 and automatically zooms according to the vehicle speed signal to determine a distance measurement range, and then passes the micro screen, the CPU, The focus driver performs focusing automatically, and the signal when the focus is aligned is taken out by the microcomputer 3 as a distance signal. The measured distance signal S (real) and speed signal V (real) are continuously input to the microcomputer 3. At this time, the comparator 32 in the microcomputer 3 has input the V-S (A) relationship curve set by the condition selection setting switch 5. Once it is input again The detected vehicle speed V (real) is to compare the measured vehicle speed V (real) with the set V-S (A) and select a safety distance S (A) from it (step 103). The comparator 33 in the microcomputer 3 inputs the distance signal S (real) measured by the visible light dynamic distance measuring device 1, and then inputs the selected safety distance S (A) from the comparator 32, and then compares the two (step 104). ), If S (actual) S (safety), the microcomputer 3 issues a speed limit command (step 105), the command is amplified by power, and is input to the speed control servo motor 41 in the speed control system, which is turned off by the servo motor. The small damper is limited in speed, and at the same time, the comparator 33 again compares the measured distance signal S (real) with the selected safety distance signal S (A) (step 106). If S (real) is found to be less than or Equal to 0.9S (A), the microcomputer 3 sends a braking instruction to the brake control servo motor 42 to make the servo motor 42 rotate through a certain angle, and then through the worm and worm gear connected to the output shaft of the servo motor 42, The piston rod connected to the worm wheel is pushed, so that the piston of the brake oil pump is pushed forward a certain distance accordingly, so as to realize flexible braking. After speed limiting or braking, the actual vehicle speed and distance change. On the other hand, after the microcomputer 3 issues a braking command, its comparator 33 continues to compare the continuously measured distance S (real) with the S (safety) selected by the comparator 32 based on the current vehicle speed, and sequentially judges S (Solid) 0. 85 S (Annual)? 3 real <0. 8 3 (A)? ... And sequentially turn the brake control servo motor 42 through the corresponding angle to achieve general braking. Once the comparator 33 determines that the actual distance S (real) is equal to or smaller than the set emergency braking distance, for example, a safety distance equal to or less than 0.7 (step 108), the microcomputer 3 issues an emergency braking instruction (step 109). ), The command signal is sent to the braking servo motor 42 by power amplification, and the motor 42 is rotated by the maximum angle among the set rotation angles, and then the braking system realizes automatic emergency braking through a transmission mechanism such as a worm. In this way, since the gap between the measured distance and the selected safety distance is determined by the microcomputer 3 in order from small to large and a command is issued sequentially, the brake control servo motor 42 and the braking system controlled by it are caused to operate. Flexible braking is also performed continuously from small to large, so the braking action is relatively stable. If after the speed limit or brake control, the comparator 33 of the microcomputer 3 determines that the measured actual distance S (real) is greater than the set safety distance S (A), the speed limit control servo motor 41 and the brake The servo motor 42 for motion control issues a reset command (steps 110 and 111) to reset it, and the vehicle can run normally.
如图 4所示， 为便于驾驶员观察， 本实施例的距离指示灯 7，由多 个代表一定距离段的指示小灯 71构成， 它们按其所代表距离的大小， 由小至大地依次排列于车速指示表 6 的外周， 且各指示小灯 71 的位 置按微机 3 内存入的速度一距离关系， 与速度表的速度刻度大致相对 应地配置，例如指示距离为 80米的指示小灯 71与速度表的 100公里 /小时相对应。微机 3根据可见光动态测距装置 1测出的距离信号，发 出指令使相应的指示小灯亮， 例如距离为 110米时， 指示 110米的指 示小灯点亮， 此时如果车速如图 4所示为 110米， 即， 速度表的指针 61离点亮的指示小灯尚有一段距离， 表明此时属安全状态， 不必限速 或制动； 如果此时的车速接近 130公里 /小时， 即， 速度表的指针 61 摆到了接近图中点亮的灯的相应位置， 表明车距巳接近安全距离的极 限。 这样配置距离指示灯， 不仅可弥补肉眼观察的不足， 使驾驶员了 解当时的确切的车距， 而且还可使驾驶员获得车速是否过快的大致的 指示。 当然， 即使没有该距离指示灯， 本发明的行车防撞装置也会按 需自动进行限速或制动。 此外， 图 4中所示的各指示小灯与速度刻度 的位置配置仅是一个例子， 可根据实际情况设定。 As shown in FIG. 4, in order to facilitate the driver's observation, the distance indicator 7 in this embodiment is composed of a plurality of small indicator lights 71 representing a certain distance segment, and according to the size of the distance they represent, They are arranged in order from small to large on the outer periphery of the speed indicator table 6, and the positions of the small indicator lights 71 are arranged according to the speed-distance relationship stored in the microcomputer 3. They are roughly corresponding to the speed scale of the speedometer, for example, the indicator distance is 80. The meter indicator light 71 corresponds to a speedometer of 100 km / h. The microcomputer 3 sends a command to light the corresponding indicator light according to the distance signal detected by the visible light dynamic ranging device 1. For example, when the distance is 110 meters, the indicator light indicating 110 meters lights up. At this time, if the vehicle speed is as shown in FIG. 4 It is 110 meters, that is, the pointer 61 of the speedometer is still a short distance from the illuminated indicator light, indicating that it is safe at this time, and there is no need to limit or brake; if the speed at this time is close to 130 km / h, that is, The pointer 61 of the speedometer is moved to the corresponding position close to the light on the picture, indicating that the vehicle distance 车 is close to the limit of the safe distance. Configuring the distance indicator in this way can not only make up for the lack of visual observation, let the driver know the exact distance at the time, but also enable the driver to get a rough indication of whether the speed is too fast. Of course, even without the distance indicator, the traffic collision avoidance device of the present invention will automatically perform speed limiting or braking as needed. In addition, the position configuration of each indicator light and speed scale shown in FIG. 4 is only an example, and can be set according to actual conditions.
在上述实施例中， 可见光动态测距装置采用了变焦自动对焦光学 装置， 它根据测出的车速信号自动变焦后再进行对焦， 也就是先确定 所测距离的远近后再进行对焦， 可提高对焦精度， 但也可以采用非变 焦自动对焦光学装置， 因为根据一般汽车的最高行车速度（200公里 / 小时），所需的防撞测距范围不会太远， 至多 120米，这样的距离范围， 利用非变焦自动对焦光学装置也能准确测距。 如果用作时速更高的高 速列车或其它的高速交通工具的动态测距装置， 则宜选用变焦自动对 焦光学装置。总之， 可见光动态测距装置可根据交通工具的实际需要， 尤其是行驶速度的需要进行选择。  In the above embodiments, the visible light dynamic ranging device uses a zoom autofocus optical device, which automatically zooms and then focuses according to the measured vehicle speed signal, that is, determines the distance of the measured distance before focusing, which can improve the focus. Precision, but non-zoom autofocus optics can also be used, because according to the highest driving speed of general cars (200 km / h), the required collision avoidance ranging range is not too far, up to 120 meters, such a distance range, Non-zoom autofocus optics can also accurately measure distances. If it is used as a dynamic ranging device for high-speed trains or other high-speed vehicles, a zoom autofocusing optical device should be used. In short, the visible light dynamic ranging device can be selected according to the actual needs of the vehicle, especially the needs of the driving speed.
在上述实施例中，微机 3先根据内存的速度一距离关系及测得的 速度选定安全距离， 然后将该选定的安全距离与测出的实际距离进行 比较， 并据此发出速度控制信号。 但这不是唯一的控制方式， 例如也 可以作如下控制：微机 3先根据内存的速度一距离关系及测出的实际 距离， 选定自身行车的安全速度 V (安）， 将该 V (安） 与测出的实际 速度 V (实） 进行比较， 据此作出判断并发出判断结果即相应的速度 控制信号。 在上述实施例中，微机 3 中内存的速度一距离关系曲线除了参照 了囯家规定的行车规范外， 还考虑了驾驶习惯、该车的重量等自身条 件， 但如果作为一般汽车的通用设备， 微机 3 中内存的速度一距离关 系可以仅参照行车规范， 而把驾驶习惯、该车重量等的自身条件作为 设定条件， 在将该行车防撞装置安装于车辆上时再进行设定。 In the above embodiment, the microcomputer 3 first selects a safety distance according to the speed-distance relationship of the memory and the measured speed, and then compares the selected safety distance with the measured actual distance, and sends a speed control signal accordingly. . However, this is not the only control method. For example, it can also perform the following control: The microcomputer 3 first selects the safe speed V (A) of its own driving according to the speed-distance relationship of the memory and the measured actual distance. Compare with the measured actual speed V (real), make a judgment based on this and send the judgment result, which is the corresponding speed control signal. In the above embodiments, the speed-distance relationship curve in the memory 3 of the microcomputer 3 takes into account driving conditions, the weight of the car, and other conditions in addition to the driving regulations prescribed by the state. However, if it is used as a general-purpose device for a general car, The speed-distance relationship in the memory 3 of the microcomputer 3 can only refer to driving specifications, and set the driving conditions, the weight of the vehicle, and other conditions as the setting conditions, and then set the driving collision avoidance device on the vehicle.
在上述实施例中， 速度控制***包括控制风门等的限速伺服电机 41和控制制动用油泵的制动伺服电机 42，但在实际上，各种车辆有各 种限速和制动***及其控制***， 所以显然， 速度控制***可以完全 不受上述实施例所限，例如伺服电机可改成步进电机， 也可以不用蜗 杆蜗轮传动， 只要它能根据来自微机的速度控制信号， 执行对行车系 统的速度控制的任务就行。  In the above-mentioned embodiment, the speed control system includes a speed-limiting servo motor 41 that controls a damper and the like, and a brake servo-motor 42 that controls an oil pump for braking, but in practice, various vehicles have various speed-limiting and braking systems and Its control system, so obviously, the speed control system can be completely not limited by the above embodiments. For example, the servo motor can be changed to a stepper motor, or it can be driven without a worm and worm gear, as long as it can execute the control according to the speed control signal from the microcomputer. The task of speed control of the driving system is enough.
此外， 当车辆在夜间、雾天行驶或行驶于盘山公路等弯道上， 因 此看不见前方车辆等障碍物时， 可将本发明的行车防撞装置的测距镜 头向下偏转一个角度， 探测路面状况， 仍可进行自动控制。 当车辆欲 超车时， 测距镜头随车辆偏转一个角度， 前方车辆便离开测距镜头的 探测范围， 即能进行超车。  In addition, when the vehicle is driving at night, on a foggy day, or on a curved road such as the Panshan Highway, so that the obstacles such as the vehicle in front cannot be seen, the distance measuring lens of the traffic collision avoidance device of the present invention can be deflected downward by an angle to detect the road surface. Conditions, automatic control is still possible. When the vehicle wants to overtake, the distance-measuring lens deflects an angle with the vehicle, and the vehicle in front leaves the detection range of the distance-measuring lens, and can overtake.
同样地，若将本发明所述的交通工具防撞装置应用于飞机，当飞机 起飞或降落时，可用它检测前方跑道有否障碍物及预测着落点是否正 确，从而确定可否起飞或降落，以确保以往主要依赖于驾驶员的驾驶技 术的飞机起飞和降落时的安全。  Similarly, if the vehicle collision avoidance device of the present invention is applied to an aircraft, when the aircraft takes off or lands, it can be used to detect whether there is an obstacle on the runway ahead and predict whether the landing point is correct, so as to determine whether it can take off or land, To ensure the safety of aircraft that used to rely primarily on the pilot's driving skills when taking off and landing.
如上所述，本发明所述的交通工具防撞方法及其装置， 不仅可应 用于汽车防撞， 也可应用于火车防撞、轮船防撞，以及飞机等其它速度 更高的交通工具的防撞，并且，它将有助于交通工具行驶的全自动化。  As described above, the collision avoidance method and device of the vehicle according to the present invention can be applied not only to collision avoidance of automobiles, but also to collision avoidance of trains, collision avoidance of ships, and other higher speed vehicles such as airplanes. And, it will help fully automate the transportation of vehicles.

Claims

权 利 要 求 书 Claim
1.一种交通工具防撞方法， 包括如下步骤： A vehicle collision avoidance method, comprising the following steps:
(1)用动态测距装置检测本身与障碍物的距离，  (1) Use the dynamic ranging device to detect the distance between itself and obstacles,
(2)检测本身的速度，  (2) the speed of detection itself,
(3) 由控制装置根据上述测出的距离信号和速度信号， 作出速度 控制判断并向速度控制***发出该速度控制信号，  (3) The control device makes a speed control judgment based on the measured distance signal and speed signal, and sends the speed control signal to the speed control system.
(4)根据上述控制装置发出的速度控制信号， 由速度控制***控 制行驶速度，  (4) The speed is controlled by the speed control system according to the speed control signal from the control device,
其特征在于，在上述步骤（1) 中使用的是可见光动态测距装置即自动 对焦光学装置， 该自动对焦光学装置接受来自障碍物的可见光后自动 进行对焦， 并将焦距对准时的信号作为距离信号输入下述的微机； 在上述步骤 (3) 中的控制装置是微机， 该微机内预先存储有速度 V—距离 S的关系曲线， 测出的实际速度 V (实） 与实际距离 S (实） 输入微机后，微机将其与该速度 V—距离 S关系曲线作比较， 作出速 度控制的判断。 It is characterized in that in step (1) above, a visible light dynamic ranging device, that is, an autofocus optical device is used. The autofocus optical device automatically focuses after receiving visible light from an obstacle, and uses the signal when the focal length is aligned as the distance. The signal is input to the following microcomputer; the control device in the above step (3) is a microcomputer, and the speed V-distance S relationship curve is stored in the microcomputer in advance, and the measured actual speed V (real) and actual distance S (real ) After inputting the microcomputer, the microcomputer compares it with the speed V-distance S relationship curve to make a speed control judgment.
2.按权利要求 1所述的交通工具防撞方法，  2. The collision avoidance method for a vehicle according to claim 1,
其特征在于，在上述步骤（3) 中， 微机先将输入的速度信号与内存的 速度 V—距离 S关系作比较， 选定安全距离 S (安），然后将该 S (安） 与实测的距离 S (实）进行比较后作出判断， 并将判断结果作为速度控 制信号输出。 It is characterized in that in step (3) above, the microcomputer first compares the input speed signal with the speed V-distance S relationship of the memory, selects a safe distance S (A), and then compares the S (A) with the measured The distance S (real) is compared to make a judgment, and the judgment result is output as a speed control signal.
3.按权利要求 2所述的交通工具防撞方法，  3. A method for collision avoidance of a vehicle according to claim 2,
其特征在于，在上述步骤（3) 中， 上述微机所作的判断包括限速判断 和制动判断， 并且， 制动判断是按实涮距离 S (实） 与选定的安全距离 S (安） 之间差距的大小， 由小至大依次作出判断并依次发出相应的指 令。 It is characterized in that in the step (3), the judgment made by the microcomputer includes a speed limit judgment and a braking judgment, and the braking judgment is based on the real distance S (real) and the selected safety distance S (safety). The size of the gap is determined from small to large and corresponding instructions are issued in order.
4.按权利要求 1所述的交通工具防撞方法，  4. The collision avoidance method for a vehicle according to claim 1,
其特征在于，上述步骤（1) 中使用的可见光动态测距装置是变焦自动 对焦光学装置， 它先根据实测的速度自动变焦以确定测距的范围， 然 后再自动对焦使焦距对准， 并将焦距对准时的信号作为距离信号由微 机取出。 It is characterized in that the visible light dynamic ranging device used in the above step (1) is a zoom autofocus optical device, which first automatically zooms according to the measured speed to determine the range of the distance measurement. After that, the autofocus is used to align the focal length, and the signal when the focal length is aligned is taken out by the microcomputer as a distance signal.
5.—种实施如权利要求 1所述的交通工具防撞方法的交通工具防撞装 置， 包括： 检测自身与障碍物距离的动态测距装置； 检测自身速度的 速度检测装置； 与上述动态测距装置及速度检测装置分别连接的控制 装置，它根据上述两装置分别测出的距离信号和速度信号， 向速度控 制***发出速度控制信号； 与上述控制装置连接的速度控制***， 它 根据上述速度控制信号， 自动控制速度，  5. A vehicle collision avoidance device implementing the vehicle collision avoidance method according to claim 1, comprising: a dynamic distance measuring device that detects a distance between itself and an obstacle; a speed detecting device that detects its own speed; and the dynamic measurement device The control device connected to the distance device and the speed detection device respectively sends a speed control signal to the speed control system according to the distance signals and speed signals respectively measured by the two devices; the speed control system connected to the control device according to the speed described above Control signals, automatic speed control,
其特征在于，上述动态测距装置是可见光动态测距装置， 即自动对焦 光学装置， 包括： 由多个光学透镜组成的可调焦镜头， 它接受来自障 碍物的可见光并将其聚焦于下述的微型屏幕； 由感光半导体构成的微 型屏幕， 它接受上述经聚焦的光并发出相应的感光信号， 自动对焦用 CPU ， 它根据上述微型屏幕的感光信号向下述的对焦驱动器发出对 焦指令； 对焦驱动器， 它根据上述对焦指令来调节上述可调焦镜头的 焦距， 使焦距对准； 并且， 上述控制装置是微机， 该微机将上述焦距 对准时的信号作为距离信号输入， 再输入测得的速度信号并和微机内 存的速度一距离关系曲线作比较， 作出速度控制的判断并输出该速度 控制信号。 It is characterized in that the above-mentioned dynamic ranging device is a visible light dynamic ranging device, that is, an auto-focusing optical device, comprising: an adjustable focus lens composed of a plurality of optical lenses, which receives visible light from an obstacle and focuses it on the following A micro-screen composed of a photosensitive semiconductor, which receives the focused light and emits a corresponding light-sensitive signal, and an auto-focus CPU, which issues a focus instruction to a focus driver described below according to the light-sensitive signal of the micro-screen; focus A driver that adjusts the focal length of the adjustable focus lens according to the focus instruction to align the focal length; and the control device is a microcomputer that inputs a signal when the focal length is aligned as a distance signal, and then inputs the measured speed The signal is compared with the speed-distance relationship curve of the microcomputer memory, the speed control judgment is made, and the speed control signal is output.
6.按权利要求 5所述的交通工具防撞装置，  The vehicle collision avoidance device according to claim 5,
其特征在于，还设有与上述微机连接的条件选择设定开关， 而微机内 存的速度一距离关系曲线与该设定开关的选择条件相对应地设有多 条， 供上述的条件选择设定开关进行选择设定， 以适应不同驾驶习 惯、车辆、道路及气候条件的不同需要。 It is characterized in that it is also provided with a condition selection setting switch connected to the microcomputer, and the speed-distance relationship curve of the microcomputer memory is provided with a plurality of corresponding to the selection condition of the setting switch for the above condition selection setting The switch can be selected and set to meet the different needs of different driving habits, vehicles, roads and weather conditions.
7.按权利要求 5所述的交通工具防撞装置，  The vehicle collision avoidance device according to claim 5,
其特征在于，还设有距离指示灯和速度表， 该指示灯由多个指示小灯 构成， 且这些指示小灯按照微机内存的速度一距离关系， 与速度表的 刻度大致位置相关地配置。 It is characterized in that a distance indicator and a speedometer are also provided, and the indicator is composed of a plurality of indicating small lights, and these indicating small lights are arranged in relation to the approximate position of the scale of the speedometer according to the speed-distance relationship of the microcomputer memory.
PCT/CN1994/000065 1993-08-25 1994-08-24 Traffic vehicle anti-collision method and apparatus WO1995006305A1 (en)

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US6037860A (en) * 1997-09-20 2000-03-14 Volkswagen Ag Method and arrangement for avoiding and/or minimizing vehicle collisions in road traffic
US6359553B1 (en) 1998-06-26 2002-03-19 Volkswagen Ag Method and control arrangement for minimizing consequences of accidents
CN108627850A (en) * 2017-03-23 2018-10-09 德尔福技术有限公司 The object classification based on transparency characteristic for automated vehicle
CN108627850B (en) * 2017-03-23 2022-05-24 动态Ad 有限责任公司 Transparency characteristic based object classification for automated vehicles

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CN1099342A (en) 1995-03-01

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