技术领域technical field
本发明涉及汽车车门防护技术领域，具体涉及一种车门干预式防撞系统的控制方法。The invention relates to the technical field of automobile door protection, in particular to a control method of a door intervention type anti-collision system.
背景技术Background technique
随着汽车产业迅速发展，汽车的保有量和使用率日益升高，针对汽车安全系统研究也越来越受到人们重视。人们意识中一直以为行驶状态中的汽车才可能对路人造成伤害，但事实上停驶的车辆，如果在不恰当的地点、不恰当的时间，以不恰当的方式打开车门，也会具有很大的杀伤力。因为车门不合时宜的开启所造成的事故屡见不鲜，其中包括主要两类事故：第一种，由于车门开启，后方移动非机动车由于躲闪不及，撞向车门所造成的人员伤亡事故；第二种，由于驾乘人员未注意车侧方固定障碍物，而引起的车门刮擦。这两种造成的财产损失、人员伤亡应当引起足够的重视，为此基于上述由于车门的不恰当打开所造成的事故，开发提醒和避免驾驶员、乘员不恰当打开车门的车门电控限位安全辅助系统非常有必要。With the rapid development of the automobile industry, the number and utilization rate of automobiles are increasing day by day, and people pay more and more attention to the research on automobile safety systems. People have always thought that only a driving car may cause harm to passers-by, but in fact, if a parked vehicle opens the door in an inappropriate way at an inappropriate place and at an inappropriate time, it will also cause serious harm. lethality. Accidents caused by untimely opening of the car door are not uncommon, including two main types of accidents: the first kind, due to the opening of the car door, the rear mobile non-motor vehicle crashes into the car door due to the lack of dodge, and the casualty accident caused by the car door; The driver and passengers did not pay attention to the fixed obstacles on the side of the car, which caused the door to be scratched. The property loss and casualties caused by these two kinds should attract enough attention. For this reason, based on the above-mentioned accidents caused by the improper opening of the car door, a car door electronic control limit safety system that reminds and avoids the driver and occupant from improperly opening the car door should be developed. Auxiliary systems are very necessary.
目前开发出的车门开启安全监测系统大都基于探测到的后方车辆信号对车门进行锁死控制，提醒驾乘人员后方有来驶车辆，控制策略比较单一，未全面考虑车门侧方及后方的实际路况。与本发明进行相比，本发明所考虑的环境因素更为全面，既包含固定的障碍物，也包含运动的物体，明显优于已有产品，并且由于本发明拟将电磁限位销引入到车门限位器的研究中，因此还可以根据障碍物的距离进行不同角度的车门开启控制。这套基于单片机开发设计汽车车门电控运动干预式安全辅助装置，有效防止开启车门时与外界障碍物及后方来驶车辆发生碰撞，更好地提高汽车的安全性能，减少人员伤亡和经济损失。Most of the currently developed door opening safety monitoring systems lock and control the doors based on the detected rear vehicle signals to remind drivers and passengers that there is an incoming vehicle behind them. The control strategy is relatively simple, and the actual road conditions on the side and rear of the doors are not fully considered. . Compared with the present invention, the environmental factors considered by the present invention are more comprehensive, including both fixed obstacles and moving objects, which are obviously better than existing products, and because the present invention intends to introduce electromagnetic limit pins into the In the study of the door stopper, it is also possible to control the opening of the door at different angles according to the distance of the obstacle. This set of electronically controlled motion intervention safety auxiliary devices for automobile doors based on single-chip development and design can effectively prevent collisions with external obstacles and vehicles driving behind when the doors are opened, better improve the safety performance of automobiles, and reduce casualties and economic losses.
发明内容Contents of the invention
本发明的一个目的是采用步进电机云台带动小束角超声波雷达，可以对车体后方运动物体运动情况，对车门进行锁死控制。An object of the present invention is to adopt the stepping motor platform to drive the ultrasonic radar with small beam angle, so that the movement of moving objects behind the car body can be controlled to lock the car door.
本发明还有一个目的是采用激光三角测距方法，对车体侧方障碍物进行探测，并根据两侧的障碍物位置限制车门的开启位置，以避免开门时车门与障碍物发生碰撞。Another object of the present invention is to use the laser triangulation method to detect obstacles on the side of the car body, and limit the opening position of the door according to the positions of the obstacles on both sides, so as to avoid collision between the door and the obstacle when the door is opened.
为了实现根据本发明的这些目的和其它优点，提供了一种车门运动干预式防撞系统控制方法，包括以下步骤：In order to achieve these objects and other advantages according to the present invention, a control method for a vehicle door movement intervention type anti-collision system is provided, comprising the following steps:
步骤一：在后视镜下方安装小束角超声波雷达，正向转动时探测到车侧后方运动物体，并记录车身后方运动物体与小束角超声波雷达的距离S1和干预式防撞系统运行时间t1,反向转动再次探测到该运动物体，运动物体与小束角超声波雷达的距离S2和干预式防撞系统运行时间t2，并根据下述公式计算出运动物体的行进速度ν，Step 1: Install the small beam angle ultrasonic radar under the rearview mirror, detect the moving object behind the side of the vehicle when turning forward, and record the distance S1 between the moving object behind the vehicle body and the small beam angle ultrasonic radar and the operation of the interventional collision avoidance system At time t1 , reverse rotation detects the moving object again, the distance S2 between the moving object and the small beam angle ultrasonic radar and the running time t2 of the interventional collision avoidance system, and calculate the moving speed ν of the moving object according to the following formula ,
其中，ω为所述小束角超声波雷达的转动速度，θ所述为小束角超声波雷达的最大转角；Wherein, ω is the rotation speed of the small beam angle ultrasonic radar, and θ is the maximum rotation angle of the small beam angle ultrasonic radar;
步骤二：将运动物体的行进速度ν与人类的步行速度ν′进行比较，Step 2: Compare the traveling speed ν of the moving object with the walking speed ν′ of a human being,
当ν≤ν′时，执行步骤三，进一步判定距离；When ν≤ν', execute step 3 to further determine the distance;
当ν＞ν′时，执行步骤四，说明当前速度和距离物体有碰撞车门的危险，需根据公式计算物体是否有足够时间规避；When ν>ν', perform step 4, indicating that the current speed and distance object is in danger of colliding with the car door, and it is necessary to calculate whether the object has enough time to avoid it according to the formula;
步骤三：将运动物体与汽车C柱之间的距离Lc与根据干湿地面不同摩擦系数所选取的安全距离Ss进行比较，Step 3: Compare the distance Lc between the moving object and the C-pillar of the car with the safety distance Ss selected according to the different friction coefficients of the dry and wet ground,
当Lc≥Ss时，说明物体物体与汽车的距离较大，开启车门没有撞到后方行进物体的危险；When Lc ≥ Ss , it means that the distance between the object and the car is relatively large, and there is no danger of hitting an object behind when the door is opened;
当Lc＜Ss时，说明物体与汽车的距离较小，开门有可能碰撞到物体，此时车内外发出提示信息，车门限位提示灯亮起；When Lc < Ss , it means that the distance between the object and the car is small, and the door may collide with the object. At this time, a prompt message will be issued inside and outside the car, and the door limit warning light will be on;
步骤四：将运动物体与汽车C柱之间的距离Lc与为根据运动物体行进速度计算出的刹车距离Sr进行比较，Step 4: Compare the distance Lc between the moving object and the C-pillar of the car with the braking distance Sr calculated according to the moving speed of the moving object,
当Lc≥Sr时，车内外发出提示信息，车门限位提示灯亮起；When Lc ≥ Sr , a prompt message will be issued inside and outside the car, and the door limit prompt light will be on;
当Lc＜Sr时，此时物体有极大可能没有足够时间规避开门动作而碰撞车门，控制限位系统锁紧前后车门锁死，警示灯亮起。When Lc < Sr , the object may not have enough time to evade the door opening action and collide with the car door at this time, the control limit system is locked, the front and rear doors are locked, and the warning light is on.
优选的是，还包括横向探测部分，Preferably, it also includes a lateral detection part,
步骤一：采用激光三角测距方法，测得车门侧方障碍物与车身的距离Dσ，Step 1: Use the laser triangulation method to measure the distance Dσ between the obstacle on the side of the door and the body,
其中，ε1为激光从发出到被反射探测器接收所用时间，ωp为平面镜的转动速度，ε2为激光从发出到被测量探测器接收所用时间，γ0为激光器与平面镜中心的距离，β为激光器与水平方向的夹角，δ2为反射探测器与测量探测器的夹角，D1为左前门与侧方障碍物间距，D2为左后门与侧方障碍物间距，D3右前门与侧方障碍物间距，D4为右后门与侧方障碍物间距；Among them,ε1 is the time taken for the laser to be received by the reflective detector,ωp is the rotation speed of the plane mirror,ε2 is the time for the laser to be received by the measured detector, andγ0 is the distance between the laser and the center of the plane mirror, β is the angle between the laser and the horizontal direction, δ2 is the angle between the reflection detector and the measuring detector, D1 is the distance between the left front door and the side obstacle, D2 is the distance between the left rear door and the side obstacle, D3The distance between the right front door and side obstacles, D4 is the distance between the right rear door and side obstacles;
步骤二：判断车门侧方障碍物与车身的距离Dσ与车门的长度Fb进行比较，Step 2: Determine the distance Dσ between the obstacle on the side of the door and the body and compare it with the length Fb of the door.
当Dσ＞Fb时，开启车门不会撞到侧方障碍物，程序结束；When Dσ > Fb , the door will not hit the side obstacle when opening the door, and the program ends;
当Dσ≤Fb时，车门开至最大位置会撞到侧方障碍物，此时需要进行限位，When Dσ ≤ Fb , the door will hit a side obstacle when it is opened to the maximum position. At this time, a limit is required.
步骤三：，判定Dσ所在范围进而确定限位位置；Step 3: Determine the range of Dσ and then determine the limit position;
当时，车门开启一定会撞到侧方障碍物，控制限位系统锁紧车门，并进行锁死警示；when When the door is opened, it will definitely hit a side obstacle, and the control limit system will lock the door and give a lock warning;
当时，电磁线圈通电，限位销卡在限位齿形拉杆第k个凹槽内，同时对应的车门限位提示灯亮起，其中，n为限位齿形拉杆的凹槽数量，k≤n且k为正整数；when When , the electromagnetic coil is energized, the limit pin is stuck in the kth groove of the limit toothed tie rod, and the corresponding door limit indicator light is on at the same time, where n is the number of grooves of the limit toothed tie rod, k≤n And k is a positive integer;
步骤四，当乘车人员关闭车门时，电磁线圈断电，对应的车门限位提示灯熄灭。Step 4, when the passenger closes the door, the electromagnetic coil is powered off, and the corresponding door limit warning light goes out.
优选的是，还包括安装在车门把手处的光电传感器，当乘车人员开门时，光电传感器检测到光线遮挡，触发所述车门运动干预式防撞系统进行工作。Preferably, it also includes a photoelectric sensor installed on the door handle. When the passenger opens the door, the photoelectric sensor detects light blocking and triggers the door movement intervention type anti-collision system to work.
优选的是，所述的小束角超声波雷达在步进电机的带动下匀速转动。Preferably, the small beam angle ultrasonic radar rotates at a constant speed driven by a stepping motor.
优选的是，所述的小束角超声波雷达的探测距离为500m～1000m。Preferably, the detection range of the small beam angle ultrasonic radar is 500m-1000m.
优选的是，所述的小束角超声波雷达的探测角度为30°～60°。Preferably, the detection angle of the small beam angle ultrasonic radar is 30°-60°.
优选的是，所述的激光器为红外波段半导体激光器。Preferably, the laser is an infrared band semiconductor laser.
优选的是，所述的激光器与水平方向的夹角为50°～58°。Preferably, the angle between the laser and the horizontal direction is 50°-58°.
优选的是，所述的平面镜的旋转角度为20°～55°。Preferably, the rotation angle of the plane mirror is 20°-55°.
优选的是，还包括系统关闭按钮，当按下系统关闭按钮后，系统停止工作，乘客可以自由开关车门。Preferably, a system shutdown button is also included. When the system shutdown button is pressed, the system stops working, and passengers can open and close the doors freely.
本发明现有技术相比的有益效果Beneficial effect compared with prior art of the present invention
1、本发明所述的汽车车门运动干预式防撞控制方法在开启车门时，通过控制车门锁死或车门开启的位置，有效防止车门撞上后方来驶非机动车辆和侧方障碍物，避免人员伤亡和汽车损失。1. The automobile door motion intervention type anti-collision control method of the present invention effectively prevents the door from colliding with non-motorized vehicles and side obstacles from behind by controlling the door lock or the position of the door opening when the door is opened. Casualties and loss of vehicles.
2、本发明所考虑的环境因素更为全面，既包含固定的障碍物，也包含运动的物体，解决了驻车开门这一问题过度依赖人的弊病，并采用自动化机构完成安全规避，因此实现单靠人难以完成的信息交互。2. The environmental factors considered in the present invention are more comprehensive, including both fixed obstacles and moving objects. Information interaction that cannot be accomplished by humans alone.
3、本发明所述的汽车车门运动干预式防撞控制方法的控制策略简易有效，可有效避免雷达所在一侧驻车开门所带来的安全隐患。3. The control strategy of the automobile door movement intervention type anti-collision control method described in the present invention is simple and effective, and can effectively avoid potential safety hazards caused by parking and opening the door on the side where the radar is located.
4、本发明所述的限位装置通过对拉杆式限位器结构的改进，实现了在开门时根据周边障碍物情况限制车门开启位置，而且在关门时不影响车门关闭动作的功能。4. The limiting device of the present invention realizes the function of limiting the opening position of the door according to the surrounding obstacles when the door is opened by improving the structure of the rod-type limiter, and does not affect the closing action of the door when closing the door.
5、本发明所述的汽车车门运动干预式防撞控制方法通过在仪表盘上设置仪表提示灯和车外警示灯，提醒驾乘人员和车外来驶车辆，避免了由于开车门所造成的危险。同时也方便驾驶员了解系统工作信息，避免迷惑。5. The automobile door motion intervention type anti-collision control method of the present invention reminds the drivers and passengers and the vehicles outside the car by setting the instrument prompt light and the warning light outside the car on the dashboard, avoiding the danger caused by opening the door . At the same time, it is also convenient for the driver to understand the working information of the system and avoid confusion.
6、本发明所述的汽车车门运动干预式防撞控制方法结构简单，安装方便、成本较低。可用于各种汽车车门，本系统中模型参数可针对不同的情况进行灵活调整，拓宽了模型的适用面，具有较强的市场推广性。6. The automobile door motion intervention anti-collision control method of the present invention has simple structure, convenient installation and low cost. It can be used for various car doors, and the model parameters in this system can be flexibly adjusted for different situations, which broadens the applicable surface of the model and has strong marketability.
附图说明Description of drawings
图1为本发明所述的汽车车门运动干预式防撞系统的结构框图。Fig. 1 is a structural block diagram of an automobile door movement intervention type anti-collision system according to the present invention.
图2为本发明所述的汽车车门运动干预式防撞系统的车身外部安装位置示意图。Fig. 2 is a schematic diagram of the installation position outside the vehicle body of the automobile door movement intervention type anti-collision system according to the present invention.
图3为本发明所述的汽车车门运动干预式防撞系统的车身内部安装位置示意图。Fig. 3 is a schematic diagram of the installation position inside the vehicle body of the automobile door movement intervention type anti-collision system according to the present invention.
图4为本发明所述的汽车车门运动干预式防撞系统的后方车辆预警模块装配示意图。Fig. 4 is a schematic diagram of the assembly of the rear vehicle early warning module of the automobile door movement intervention type anti-collision system according to the present invention.
图5为本发明所述的限位执行机构安装位置示意图。Fig. 5 is a schematic diagram of the installation position of the limit actuator according to the present invention.
图6为本发明所述的汽车车门运动干预式防撞系统工作示意图；Fig. 6 is a working schematic diagram of the automobile door movement intervention type anti-collision system according to the present invention;
图7为图6轴向分解结构图；Fig. 7 is an axially exploded structural view of Fig. 6;
图8为图6剖面正视结构图；Fig. 8 is a cross-sectional front view of Fig. 6;
图9为本发明所述的半导体激光器测距装置工作原理图。Fig. 9 is a working principle diagram of the semiconductor laser ranging device according to the present invention.
图10为本发明所述的汽车车门运动干预式防撞系统后方车辆预警模块的探测原理示意图；Fig. 10 is a schematic diagram of the detection principle of the rear vehicle early warning module of the automobile door movement intervention type anti-collision system according to the present invention;
图11为后方车辆预警模块测速原理示意图；Figure 11 is a schematic diagram of the speed measurement principle of the vehicle early warning module in the rear;
图12为本发明所述的汽车车门运动干预式防撞系统的仪表提示灯效果图。Fig. 12 is an effect diagram of the instrument prompt light of the automobile door movement intervention type anti-collision system according to the present invention.
图13为本发明所述的汽车车门运动干预式防撞系统的控制方法流程图。Fig. 13 is a flow chart of the control method of the automobile door movement intervention anti-collision system according to the present invention.
具体实施方式Detailed ways
下面结合附图对本发明做进一步的详细说明，以令本领域技术人员参照说明书文字能够据以实施。The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.
如图1所示，本发明提供的汽车车门运动干预式防撞系统，包括：后方车辆预警模块100、侧向障碍物防撞模块200、车门限位执行模块300、单片机控制模块400和控制按钮和指示模块500。As shown in Figure 1, the automobile door motion intervention type anti-collision system provided by the present invention includes: a rear vehicle warning module 100, a side obstacle anti-collision module 200, a door limit execution module 300, a single-chip microcomputer control module 400 and control buttons and indicating module 500.
如图2所示，后方车辆预警模块100，由两个或两个以上小束角超声波雷达110和步进电机云台120组成，安装在车辆两侧后视镜位置，通过对车外进行超声探测来获知后方车辆及行人运动信息，小束角超声波雷达的探测范围为500米～1000米，探测角度为30°～60°，如图4所示为步进电机云台120和小束角超声波雷达110的装配示意图，小束角超声波雷达110由小束波雷达探针111和探头支架112组成，步进云台120以一定的速度转动带动小束角超声波雷达在探测角度内进行超声波探测，当超声波探测到后方有运动物体时，记录小束角超声波雷达110与运动物体的距离并将信号传递给单片机控制模块400。As shown in Figure 2, the rear vehicle early warning module 100 is composed of two or more small beam angle ultrasonic radars 110 and stepper motor pan/tilts 120, and is installed at the positions of the rearview mirrors on both sides of the vehicle. Detection is used to obtain the movement information of vehicles and pedestrians behind. The detection range of the small beam angle ultrasonic radar is 500 meters to 1000 meters, and the detection angle is 30° to 60°. Schematic diagram of the assembly of the ultrasonic radar 110. The small beam angle ultrasonic radar 110 is composed of a small beam radar probe 111 and a probe bracket 112. The stepping platform 120 rotates at a certain speed to drive the small beam angle ultrasonic radar to perform ultrasonic detection within the detection angle. , when the ultrasonic wave detects that there is a moving object behind, record the distance between the small beam angle ultrasonic radar 110 and the moving object and transmit the signal to the single-chip microcomputer control module 400 .
侧向障碍物防撞模块200，其设置在车辆四个车门的门槛板位置，即为四个半导体激光器测距装置，如图9所示，每个半导体激光器测距装置包括半导体激光器210、平面镜220、反射探测器230和测量探测器240，其工作过程为，半导体激光器210以与水平方向夹角为50°-58°发出的激光照射到平面镜220，反射后被反射探测器230接收，并记录光线传播时间，平面镜220绕镜子中心一定速度旋转，旋转角度为20°-55°，光线经平面镜220反射后的出射角度不断变化，当平面镜的反射光线到达车门侧方障碍物，经反射后被测量探测器240接收，并记录光线传播时间，根据两次记录的时间差，可计算出车门侧方障碍物与车门的距离，并将信号传递给单片机控制模块400。The lateral obstacle anti-collision module 200, which is arranged on the sill plate position of the four doors of the vehicle, is four semiconductor laser distance measuring devices, as shown in Figure 9, each semiconductor laser distance measuring device includes a semiconductor laser 210, a plane mirror 220, the reflection detector 230 and the measurement detector 240, the working process is that the laser light emitted by the semiconductor laser 210 at an angle of 50°-58° with the horizontal direction irradiates the plane mirror 220, and is received by the reflection detector 230 after reflection, and Record the light propagation time. The plane mirror 220 rotates around the center of the mirror at a certain speed, and the rotation angle is 20°-55°. After the light is reflected by the plane mirror 220, the exit angle changes continuously. The measured detector 240 receives and records the light propagation time. According to the time difference between the two records, the distance between the obstacle on the side of the door and the door can be calculated, and the signal is transmitted to the single-chip control module 400 .
如图5所示，车门限位执行模块300由车门限位执行机构310和限位齿形拉杆320组成，用于控制车门的开启位置，其中车门限位执行机构310设置在车门铰链处的车门内门板611与外门板612之间的空腔内，限位齿形拉杆320通过内侧车门板开口620处穿过与车身立柱铰接；As shown in Figure 5, the door limit actuator module 300 is composed of a door limit actuator 310 and a limit toothed pull rod 320, which is used to control the opening position of the door, wherein the door limit actuator 310 is arranged on the door at the door hinge. In the cavity between the inner door panel 611 and the outer door panel 612, the position-limiting toothed pull rod 320 passes through the opening 620 of the inner door panel and is hinged to the vehicle body column;
如图6所示，车门限位机构310由限位销311、电磁线圈312、电磁限位销壳体313、电磁限位销壳体端盖314、回位弹簧315、缓冲弹簧316和法兰盘317组成，限位销311由圆形顶部和矩形杆下部组成，材料为铁质。限位销311的矩形杆下端远离车身一侧为垂直面，靠近车身一侧为弧面，以便保证在车门开启到接近最大角度时能够与限位齿形拉杆320配合实现可靠限位，而在车门关闭可无阻退出；限位销311嵌入在电磁限位销壳体313中，限位销311圆形顶部与电磁限位销壳体313内壁之间留有缝隙，保证限位销311可在电磁线圈312的作用下沿轴线方向做直线往复运动；电磁限位销壳体313由上部大圆柱体、中部小圆柱体和下部类矩形法兰盘317组成，其上部和中部具有圆柱形内腔，下部法兰盘317中间有一矩形通孔；回位弹簧315放在电磁限位销壳体313中部圆柱形空腔内，回位弹簧315外径小于限位销311顶部圆形部分外径；限位销311自回位弹簧315中间穿过后从电磁限位销壳体313上部放入电磁限位销壳体313内部，并从电磁限位销壳体313底部矩形孔穿出，回位弹簧,315被固定在电磁限位销壳体313内腔底部与限位销311圆形顶部下表面之间，它的上端与限位销311的圆形挡板下表面接触，回位弹簧315的下端使用金属胶与电磁限位销壳体313底部表面粘接在一起，使之无法分离，避免出现振动。缓冲弹簧316放在电磁限位销壳体端盖314与限位销311圆形上部上表面之间，并且其上端使用金属胶与电磁限位销壳体端盖314下部圆形凹槽内表面相粘接；缓冲弹簧316为刚度较大的弹簧，用来减少限位销311复位时的冲击。电磁限位销壳体端盖314与限位销311上端的自然状态时留有的空间大小可以避免限位销311回位时与电磁限位销壳体端盖314发生撞击出现噪音。电磁线圈312被均匀的缠绕在电磁限位销壳体313中部小圆柱体外侧，当流入电流时，电磁线圈312将产生电磁吸力，吸引限位销311沿轴线做向下运动。电磁线圈312涂有绝缘胶，起到防水和绝缘的作用。As shown in Figure 6, the door stop mechanism 310 is composed of a stop pin 311, an electromagnetic coil 312, an electromagnetic limit pin housing 313, an electromagnetic limit pin housing end cover 314, a return spring 315, a buffer spring 316 and a flange. Disk 317 is made up, and limit pin 311 is made up of circular top and rectangular rod bottom, and material is irony. The lower end of the rectangular rod of the limit pin 311 is a vertical surface away from the side of the vehicle body, and the side close to the vehicle body is an arc surface, so as to ensure that when the door is opened to a maximum angle, it can cooperate with the limit toothed pull rod 320 to achieve reliable positioning. The car door can be closed without hindrance; the limit pin 311 is embedded in the electromagnetic limit pin housing 313, and there is a gap between the circular top of the limit pin 311 and the inner wall of the electromagnetic limit pin housing 313 to ensure that the limit pin 311 can Under the action of the electromagnetic coil 312, it makes a linear reciprocating motion along the axial direction; the electromagnetic limit pin housing 313 is composed of an upper large cylinder, a middle small cylinder and a lower rectangular flange 317, and its upper and middle parts have cylindrical inner cavities , there is a rectangular through hole in the middle of the lower flange 317; the return spring 315 is placed in the cylindrical cavity in the middle of the electromagnetic limit pin housing 313, and the outer diameter of the return spring 315 is smaller than the outer diameter of the circular part at the top of the limit pin 311; The limit pin 311 is put into the inside of the electromagnetic limit pin housing 313 from the top of the electromagnetic limit pin housing 313 after passing through the middle of the return spring 315, and passes through the rectangular hole at the bottom of the electromagnetic limit pin housing 313, and the return spring , 315 is fixed between the bottom of the inner cavity of the electromagnetic limit pin housing 313 and the lower surface of the circular top of the limit pin 311, its upper end is in contact with the lower surface of the circular baffle plate of the limit pin 311, and the return spring 315 The lower end is bonded together with metal glue and the bottom surface of the electromagnetic limit pin housing 313, so that it cannot be separated and vibrations are avoided. The buffer spring 316 is placed between the electromagnetic limit pin housing end cover 314 and the circular upper surface of the limit pin 311, and its upper end is made of metal glue and the inner surface of the circular groove at the bottom of the electromagnetic limit pin housing end cover 314 phase bonding; the buffer spring 316 is a spring with higher rigidity, which is used to reduce the impact when the limit pin 311 is reset. The space left in the natural state between the electromagnetic limit pin housing end cover 314 and the limit pin 311 upper end can prevent the limit pin 311 from colliding with the electromagnetic limit pin housing end cover 314 when returning to the position and generating noise. The electromagnetic coil 312 is uniformly wound on the outside of the small cylinder in the middle of the electromagnetic limit pin housing 313. When current flows in, the electromagnetic coil 312 will generate electromagnetic attraction force to attract the limit pin 311 to move downward along the axis. The electromagnetic coil 312 is coated with insulating glue to play the role of waterproof and insulation.
如图7、图8所示，电磁限位销壳体端盖314与电磁限位销壳体313的上端通过螺纹连接。电磁限位销壳体313下部四周带有凸耳的法兰盘317的四周凸耳中心各有一通孔，用以通过螺钉与支撑肋板630固定连接，其中，电磁限位销壳体313由铸铝材料制成。As shown in FIG. 7 and FIG. 8 , the end cover 314 of the electromagnetic limit pin housing is connected to the upper end of the electromagnetic limit pin housing 313 through threads. There is a through hole in the center of each lug around the flange 317 with lugs around the bottom of the electromagnetic limit pin housing 313, which is used for fixed connection with the support rib 630 by screws, wherein the electromagnetic limit pin housing 313 is formed by Made of cast aluminum material.
限位齿形拉杆320与限位执行机构310配合使用，其设置有多个非等间距的长方形凹槽，保证拉杆每移动一个凹槽的间距车门最远端到汽车侧面的变化距离相同，第n个凹槽与齿形拉杆末端间距，其中，L为齿形拉杆的长度，单位为米；m为齿形拉杆设置的凹槽数量。The limit tooth-shaped pull rod 320 is used in conjunction with the limit actuator 310. It is provided with a plurality of non-equally spaced rectangular grooves to ensure that the distance between the farthest end of the door and the side of the car is the same when the pull rod moves a groove. The distance between n grooves and the end of the toothed tie rod, Wherein, L is the length of the toothed tie rod, and the unit is meter; m is the number of grooves provided by the toothed tie rod.
在另一实施例中，在汽车车门把手位置设置有光电传感器330，当乘客或司机将手置于门把手，准备开门时，光电传感器330被触发，单片机控制模块400接到中断信号，立即向步进电机云台120及小束角超声波雷达110发送控制信号，步进电机云台120带动小束角超声波雷达110进行扫描作业并将探测结果传递给单片机控制模块400。In another embodiment, a photoelectric sensor 330 is provided at the position of the door handle of the automobile. When a passenger or driver puts his/her hand on the door handle and prepares to open the door, the photoelectric sensor 330 is triggered, and the single-chip control module 400 receives an interrupt signal and immediately sends The stepping motor pan/tilt 120 and the small beam angle ultrasonic radar 110 send control signals, and the stepping motor pan/tilt 120 drives the small beam angle ultrasonic radar 110 to scan and transmit the detection results to the single-chip microcomputer control module 400 .
控制按钮和指示模块500，锁死关闭按钮511，按下锁死关闭按钮，锁死执行机构停止工作，系统关闭按钮512位于汽车中控台左侧，当驾驶员需要人为关闭该车门运动干预式防撞系统时，可以按动此按钮关闭系统，实现人为可控。Control button and indication module 500, lock close button 511, press the lock close button, the lock actuator stops working, the system close button 512 is located on the left side of the car center console, when the driver needs to manually close the door movement intervention When the anti-collision system is in use, you can press this button to turn off the system to realize human controllability.
如图12所示，仪表提示灯由位于汽车仪表盘上的四个类似车门的长方形车门限位提示灯521，522，523，524和锁死警示灯530组成。当任一车门被限位时，与锁死警示灯530和该门对应的车门限位提示灯通电点亮，用来提示驾驶员被限位的车门位置以及限位个数。As shown in FIG. 12 , the instrument prompting light is composed of four rectangular car door limit prompting lights 521 , 522 , 523 , 524 and a lock warning light 530 on the car dashboard. When any car door is limited, the door limit warning lamp corresponding to the lock warning light 530 and the door is energized and lit, which is used to remind the driver of the limited car door position and the limited number.
四个车门限位提示灯由嵌入在仪表中的发光二级管控制；而锁死警示灯530是在仪表盘上掏空有“车门限位、注意安全”字样的黑色塑料面板下放置发光二极管实现；四个车门限位提示灯和锁死警示灯530全部由单片机控制模块400控制其发光。The four door limit indicator lights are controlled by light-emitting diodes embedded in the instrument; and the lock warning light 530 is a light-emitting diode placed under the black plastic panel with the words "door limit, pay attention to safety" hollowed out on the instrument panel. Realize; four car door limit prompt lights and the lock warning light 530 are all controlled by the single-chip microcomputer control module 400 to emit light.
单片机控制模块400，其设置在汽车中控台内部，用于记录后方车辆预警模块100和侧向障碍物防撞模块200传递的电信号，同时根据传递的电信号控制车门限位执行模块300工作。如图13为汽车车门运动干预式防撞系统的控制器电气原理图，所述的控制模块为车门运动干预式防撞系统的核心模块，该控制模块由车载12V电源供电，并读取六个超声波雷达、光电传感器330以及锁死关闭按钮511和系统关闭按钮512的信号，根据控制器中单片机内存中存储的控制程序控制四个车门限位执行模块工作，并通过点亮对应的车门限位提示灯和锁死警示灯530对驾乘人员进行提醒。The single-chip microcomputer control module 400, which is arranged inside the car center console, is used to record the electrical signals transmitted by the rear vehicle warning module 100 and the side obstacle avoidance module 200, and simultaneously control the work of the door limit execution module 300 according to the transmitted electrical signals . Figure 13 is the electrical schematic diagram of the controller of the automobile door motion intervention type anti-collision system. The control module is the core module of the vehicle door motion intervention type anti-collision system. The signals of ultrasonic radar, photoelectric sensor 330, lock off button 511 and system off button 512 control the work of the four door limit execution modules according to the control program stored in the memory of the single-chip microcomputer in the controller, and light the corresponding door limit The reminder light and the lock warning light 530 remind the drivers and passengers.
单片机控制模块400包括单片机，电源模块，步进电机驱动器，以及四组相同的电磁线圈驱动放大电路。The single-chip microcomputer control module 400 includes a single-chip microcomputer, a power supply module, a stepping motor driver, and four sets of identical electromagnetic coil drive amplifier circuits.
一种车门运动干预式防撞系统的控制方法，该方法包括以下步骤：A control method of a door movement intervention type anti-collision system, the method comprising the following steps:
S210：初始化程序，并给变量ν、Si、ti赋初值0，其中，i＝1,2......；S210: Initialize the program, and assign the initial value 0 to the variables ν, Si , ti , wherein, i=1, 2...;
S220：当乘车人员开门时，光电传感器330检测到光线遮挡，触发车门运动干预式防撞系统进行工作，小束角超声波雷达110在步进电机云台120带动下以角速度ω匀速转动，单位为rad/s,到最大转动角度θ后，单位为弧度，小束角超声波雷达110反向转动，正向转动时探测到车侧后方运动物体，并记录运动物体与小束角超声波雷达110的距离S1，单位为m；以及干预式防撞系统运行时间t1,单位为s；反向转动再次探测到该运动物体，运动物体与小束角超声波雷达110的距离S2,单位为m；和干预式防撞系统运行时间t2，单位为s,并根据下述公式计算出运动物体的行进速度ν，单位为m/s，S220: When the passenger opens the door, the photoelectric sensor 330 detects the occlusion of light, and triggers the door movement intervention type anti-collision system to work. The small beam angle ultrasonic radar 110 is driven by the stepper motor pan/tilt 120 to rotate at a constant angular speed ω, unit is rad/s, and after reaching the maximum rotation angle θ, the unit is radian. The small beam angle ultrasonic radar 110 rotates in the reverse direction, and when it rotates forward, it detects a moving object behind the vehicle side, and records the distance between the moving object and the small beam angle ultrasonic radar 110. The distance S1 , the unit is m; and the running time t1 of the interventional collision avoidance system, the unit is s; the moving object is detected again by reverse rotation, the distance S2 between the moving object and the small beam angle ultrasonic radar 110 , the unit is m ; and the running time t2 of the interventional collision avoidance system, the unit is s, and the moving speed ν of the moving object is calculated according to the following formula, the unit is m/s,
S230:将运动物体的行进速度ν与人类的步行速度ν′进行比较，S230: comparing the traveling speed ν of the moving object with the walking speed ν' of a human being,
S231：当ν≤ν′时，执行S240，进一步判定距离；S231: When ν≤ν', execute S240 to further determine the distance;
S232：当ν＞ν′时，执行S250，说明当前速度和距离物体有碰撞车门的危险，需根据公式计算物体是否有足够时间规避；S232: When ν>ν', execute S250, indicating that the object at the current speed and distance is in danger of colliding with the car door, and it is necessary to calculate whether the object has enough time to avoid it according to the formula;
S240：计算运动物体与汽车C柱之间的距离Lc，单位为m；S240: Calculate the distance Lc between the moving object and the C-pillar of the vehicle, in m;
Lc＝S2-L，其中L为后视镜与C柱之间的距离，单位为m；并将其与Ss进行比较，其中，Ss为根据干湿地面不同摩擦系数所选取的安全距离。Lc = S2 -L, where L is the distance between the rearview mirror and the C-pillar in m; and compare it with Ss , where Ss is selected according to the different friction coefficients of dry and wet ground safe distance.
S241：当Lc≥Ss时，执行S270，进入横向探测；S241: When Lc ≥ Ss , execute S270 and enter the lateral detection;
S242：当Lc＜Ss时，说明物体与汽车的距离较小，开门有可能碰撞到物体，此时车内发出提示信息，车门限位提示灯亮起。S242: When Lc < Ss , it means that the distance between the object and the car is small, and the door may collide with the object. At this time, a prompt message is issued in the car, and the door limit warning light is on.
S250:计算运动物体与汽车C柱之间的距离Lc，并将其与Sr进行比较，其中Sr为根据运动物体行进速度计算出的刹车距离，表1是本发明根据华人民共和国国家标准.摩托车和轻便摩托车制动性能试验方法制动力(GB20073-2006).北京中国标准出版社.2006，以及中华人民共和国国家标准.自行车安全要求(GB2565-2005).北京中国标准出版社.2005所实验推导建立出的模型公式表格，并给出了计算举例，刹车距离近似等于制动距离加上反应距离；S250: Calculate the distance Lc between the moving object and the C-pillar of the automobile, and compare it with Sr , wherein Sr is the braking distance calculated according to the moving speed of the moving object, and Table 1 is the present invention according to the People's Republic of China Standard. Motorcycle and Moped Braking Performance Test Method Braking Force (GB20073-2006). Beijing China Standard Press. 2006, and National Standard of the People's Republic of China. Bicycle Safety Requirements (GB2565-2005). Beijing China Standard Press .2005 experimental derivation and establishment of the model formula table, and a calculation example is given, the braking distance is approximately equal to the braking distance plus the reaction distance;
表1Table 1
S251：当Lc≥Sr时，车内外发出提示信息，车门限位提示灯亮起；S251: When Lc ≥ Sr , a prompt message is issued inside and outside the car, and the door limit prompt light is on;
S252：当Lc＜Sr时，此时物体有极大可能没有足够时间规避开门动作而碰撞车门，控制限位系统锁紧前后车门3～5秒，锁死警示灯530亮起进行锁死警示。S252: When Lc < Sr , it is very likely that the object does not have enough time to avoid the door opening action and collides with the car door at this time, control the limit system to lock the front and rear doors for 3-5 seconds, and the lock warning light 530 lights up to perform lock warning.
S260：当乘车人员按下锁死关闭按钮511，系统允许进行开门动作。S260: When the passenger presses the lock close button 511, the system allows the door to be opened.
在另一实施例中，车门运动干预式防撞系统的控制方法还包括横向探测部分，该方法包括以下步骤：In another embodiment, the control method of the door motion intervention type anti-collision system further includes a lateral detection part, and the method includes the following steps:
S210：初始化程序，并给变量ν、Si、ti赋初值0，其中，i＝1,2......；S210: Initialize the program, and assign the initial value 0 to the variables ν, Si , ti , wherein, i=1, 2...;
S220：当乘车人员开门时，光电传感器330检测到光线遮挡，触发车门运动干预式防撞系统进行工作，小束角超声波雷达110在步进电机云台120带动下以角速度ω匀速转动，单位为rad/s,到最大转动角度θ后，单位为弧度，小束角超声波雷达110反向转动，正向转动时探测到车侧后方运动物体，并记录运动物体与小束角超声波雷达110的距离S1，单位为m；以及干预式防撞系统运行时间t1,单位为s；反向转动再次探测到该运动物体，运动物体与小束角超声波雷达110的距离S2,单位为m；和干预式防撞系统运行时间t2，单位为s,并根据下述公式计算出运动物体的行进速度ν，单位为m/s，S220: When the passenger opens the door, the photoelectric sensor 330 detects the occlusion of light, and triggers the door movement intervention type anti-collision system to work. The small beam angle ultrasonic radar 110 is driven by the stepper motor pan/tilt 120 to rotate at a constant angular speed ω, unit is rad/s, and after reaching the maximum rotation angle θ, the unit is radian. The small beam angle ultrasonic radar 110 rotates in the reverse direction, and when it rotates forward, it detects a moving object behind the vehicle side, and records the distance between the moving object and the small beam angle ultrasonic radar 110. The distance S1 , the unit is m; and the running time t1 of the interventional collision avoidance system, the unit is s; the moving object is detected again by reverse rotation, the distance S2 between the moving object and the small beam angle ultrasonic radar 110 , the unit is m ; and the running time t2 of the interventional collision avoidance system, the unit is s, and the moving speed ν of the moving object is calculated according to the following formula, the unit is m/s,
S230:将运动物体的行进速度ν与人类的步行速度ν′进行比较，S230: comparing the traveling speed ν of the moving object with the walking speed ν' of a human being,
S231：当ν≤ν′时，执行S240，进一步判定距离；S231: When ν≤ν', execute S240 to further determine the distance;
S232：当ν＞ν′时，执行S250，说明当前速度和距离物体有碰撞车门的危险，需根据公式计算物体是否有足够时间规避；S232: When ν>ν', execute S250, indicating that the object at the current speed and distance is in danger of colliding with the car door, and it is necessary to calculate whether the object has enough time to avoid it according to the formula;
S240：计算运动物体与汽车C柱之间的距离Lc，单位为m；S240: Calculate the distance Lc between the moving object and the C-pillar of the vehicle, in m;
Lc＝S2-L，其中L为后视镜与C柱之间的距离，单位为m；并将其与Ss进行比较，其中，Ss为根据干湿地面不同摩擦系数所选取的安全距离。Lc = S2 -L, where L is the distance between the rearview mirror and the C-pillar in m; and compare it with Ss , where Ss is selected according to the different friction coefficients of dry and wet ground safe distance.
S241：当Lc≥Ss时，执行S270，进入横向探测；S241: When Lc ≥ Ss , execute S270 and enter the lateral detection;
S242：当Lc＜Ss时，说明物体与汽车的距离较小，开门有可能碰撞到物体，此时车内发出提示信息，车门限位提示灯亮起。S242: When Lc < Ss , it means that the distance between the object and the car is small, and the door may collide with the object. At this time, a prompt message is issued in the car, and the door limit warning light is on.
S250:计算运动物体与汽车C柱之间的距离Lc，并将其与Sr进行比较，S250: Calculate the distance Lc between the moving object and the C-pillar of the car, and compare it with Sr ,
S251：当Lc≥Sr时，车内外发出提示信息，车门限位提示灯亮起；S251: When Lc ≥ Sr , a prompt message is issued inside and outside the car, and the door limit prompt light is on;
S252：当Lc＜Sr时，此时物体有极大可能没有足够时间规避开门动作而碰撞车门，控制限位系统锁紧前后车门3～5秒，锁死警示灯530亮起进行锁死警示。S252: When Lc < Sr , it is very likely that the object does not have enough time to avoid the door opening action and collides with the car door at this time, control the limit system to lock the front and rear doors for 3-5 seconds, and the lock warning light 530 lights up to perform lock warning.
S260：当乘车人员按下锁死关闭按钮511，系统允许进行开门动作。S260: When the passenger presses the lock close button 511, the system allows the door to be opened.
S270：进入横向探测部分，程序初始化，并给变量Dσ、εi赋初值0，其中，i＝1,2......，σ＝1,2,3,4；S270: Enter the horizontal detection part, initialize the program, and assign the initial value 0 to the variables Dσ and εi , wherein, i=1,2..., σ=1,2,3,4;
S280:半导体激光器210发出的激光到达平面镜220，反射后被反射探测器230接收，经历时间为ε1，单位为s；平面镜以自身中点为圆心，角速度ωp，单位为rad/s，匀速转动，平面镜的反射光线到达车门侧方障碍物，经反射后被测量探测器240接收，历时ε2，单位为s，测得车门侧方障碍物与车身的距离Dσ，单位为m，S280 : The laser light emitted by the semiconductor laser 210 reaches the plane mirror 220, and is received by the reflection detector 230 after reflection. The elapsed time is ε1 and the unit is s; Rotate, the reflected light of the plane mirror reaches the obstacle on the side of the door, and is received by the measuring detector 240 after reflection. It takes ε2 , the unit is s, and the distance Dσ between the obstacle on the side of the door and the body is measured, and the unit is m.
其中，γ0为激光器与平面镜中心的距离，单位为s，β为半导体激光器与水平方向的夹角，δ2为反射探测器与测量探测器的夹角，D1为左前门与侧方障碍物间距，单位为m；单位为D2为左后门与侧方障碍物间距，单位为m，D3右前门与侧方障碍物间距，单位为m，D4为右后门与侧方障碍物间距，单位为m；Among them, γ0 is the distance between the laser and the center of the plane mirror in s, β is the angle between the semiconductor laser and the horizontal direction, δ2 is the angle between the reflection detector and the measurement detector, D1 is the left front door and the side obstacle Object distance, unit is m; unit is D2 is the distance between the left rear door and the side obstacle, the unit is m, D3 is the distance between the right front door and the side obstacle, the unit is m, D4 is the right rear door and the side obstacle spacing, the unit is m;
S290：判断车门侧方障碍物与车身的距离Dσ，单位为m，与车门的长度Fb，单位为m，进行比较，S290: Determine the distance Dσ between the obstacle on the side of the door and the body, in m, and compare it with the length Fb of the door, in m,
S291：当Dσ＞Fb时，开启车门不会撞到侧方障碍物，执行S320，程序结束；S291: When Dσ > Fb , opening the door will not hit a side obstacle, execute S320, and the program ends;
S292：当Dσ≤Fb时，车门开至最大位置会撞到侧方障碍物，此时需要进行限位，S292: When Dσ ≤ Fb , the door will hit a side obstacle when it is opened to the maximum position. At this time, a limit is required.
S300：判定Dσ所在范围进而确定限位位置；S300: Determine the range of Dσ and then determine the limit position;
S301：当时，车门开启一定会撞到侧方障碍物，控制限位系统锁紧车门，锁死警示灯530亮起进行锁死警示；S301: when When the door is opened, it will definitely hit a side obstacle, the control limit system locks the door, and the lock warning light 530 lights up for a lock warning;
S302：当时，电磁线圈通电，限位销卡在限位齿形拉杆第k个凹槽内，同时对应的车门限位提示灯亮起，其中，n为限位齿形拉杆的凹槽数量，k≤n且k为正整数；S302: when When , the electromagnetic coil is energized, the limit pin is stuck in the kth groove of the limit toothed tie rod, and the corresponding door limit indicator light is on at the same time, where n is the number of grooves of the limit toothed tie rod, k≤n And k is a positive integer;
S310：当乘车人员关闭车门时，电磁线圈断电，对应的车门限位提示灯熄灭；S310: When the passenger closes the door, the electromagnetic coil is powered off, and the corresponding door limit indicator light goes out;
S320：限位动作结束。S320: The limit action ends.
尽管本发明的实施方案已公开如上，但其并不仅仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节和这里示出与描述的图例。Although the embodiment of the present invention has been disclosed as above, it is not limited to the use listed in the specification and implementation, it can be applied to various fields suitable for the present invention, and it can be easily understood by those skilled in the art Therefore, the invention is not limited to the specific details and examples shown and described herein without departing from the general concept defined by the claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510648058.1ACN105196953B (en) | 2015-10-09 | 2015-10-09 | A method for door movement intervention anti-collision control |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510648058.1ACN105196953B (en) | 2015-10-09 | 2015-10-09 | A method for door movement intervention anti-collision control |
| Publication Number | Publication Date |
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| CN105196953Atrue CN105196953A (en) | 2015-12-30 |
| CN105196953B CN105196953B (en) | 2017-06-27 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510648058.1AActiveCN105196953B (en) | 2015-10-09 | 2015-10-09 | A method for door movement intervention anti-collision control |
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