According to the vehicle obstacle avoidance system, a data delay obstacle avoidance distance compensation circuit receives distance information, detected by a laser distance measuring sensor, between a vehicle and an obstacle, and an operational amplifier AR2 outputs speed prediction information and a voltage value corresponding to sampling time and obstacle avoidance response time, and the speed prediction information and the voltage value are multiplied to output vehicle driving distance information. The distance information between the vehicle and the obstacle and the vehicle driving distance information are subjected to differential operation, and compensated obstacle distance information is output and transmitted to the vehicle-mounted computer, so that the vehicle and obstacle distance information which should be received by the vehicle-mounted computer is obtained and enters an inverted input end of an operational amplifier AR4 in the data delay obstacle avoidance threshold correction circuit; the in-phase input end of the operational amplifier AR4 is connected with an obstacle avoidance threshold value, hysteresis comparison outputs a stable obstacle avoidance instruction to a vehicle-mounted computer, the structure is simple, response is fast, especially when emergency obstacle avoidance is needed, control can be carried out in time, the divider IC2 calculates the ratio of speed prediction information to acceleration information to obtain obstacle avoidance response time, and the vehicle-mounted obstacle avoidance system is convenient to use. And the voltage is converted to correct the obstacle avoidance threshold.
本发明车辆避障系统,数据延迟避障距离补偿电路接收激光测距传感器检测的车辆与障碍物的距离信息,运算放大器AR2输出速度预测信息与采样时间与避障反应时间对应的电压值经相乘输出车辆行驶距离信息,车辆与障碍物的距离信息、车辆行驶距离信息经差动运算输出补偿后的障碍物距离信息传输到车载电脑,得出车载电脑应收到的车辆与障碍物距离信息,进入数据延迟避障阈值纠正电路中运算放大器AR4的反相输入端,运算放大器AR4的同相输入端连接避障阈值,迟滞比较输出稳定的避障指令到车载电脑,结构简单,响应快,尤其在需紧急避障时,能及时的进行控制,除法器IC2计算出速度预测信息与加速度信息的比值得出避障反应时间,转换为电压实现纠正避障阈值。
Vehicle obstacle avoidance system
车辆避障系统
2022-11-25
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
European Patent Office | 2021
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