In recent years, in the daily training process of armored vehicles, vicious accidents have occurred, which has caused great losses to the lives and equipment safety of the troops. Armored vehicles usually use closed-end driving while driving, the driver's line of sight is affected, and the training of the troops is often in the hilly area, the road conditions are very bad, especially the northern troops, often accompanied by a large amount of dust during training, which greatly increases the number of The probability of occurrence of a vehicle accident. The causes of collisions of armored vehicles are very complicated. There are factors of armored vehicles themselves, factors of human factors, environmental factors such as roads and meteorology. In short, people, vehicles and the environment are the three major factors affecting the safety performance of vehicles. The three constitute a system engineering that restricts each other. In order to solve the safety problem of armored vehicles training, this paper proposes to develop an armored vehicle anti-collision warning system that can obtain vehicle position information in real time and promptly remind the driver or the system to take measures to avoid dangerous situations. The research and development of this system is extremely Great practical significance and broad application prospects. Introduction to common vehicle distance detection technology At present, distance sensors are mainly divided into three categories: acoustics - ultrasonic; optical - passive infrared, laser radar and video imaging systems; electromagnetic - continuous wave radar / single pulse radar and capacitive sensors. Every distance detection technology has its own application. (1) Ultrasonic sensor Ultrasonic waves are sound waves whose frequency is above 20 kHz and which are not felt by the human ear. Compared with audible sound, it is characterized by high frequency, short wavelength, good beamability, penetration and directionality in propagation. Ultrasonic distance sensors generally use separate transmitters and receivers. The transmitters are excited by high frequency signals (40KHz~80KHz). By measuring the time interval between the transmission of an ultrasonic pulse and the receipt of the reflected signal, the distance of the measured object can be simply estimated. Its main advantages are lower cost and smaller size; the main disadvantage is that some targets (such as soil and vegetation) have weak reflection signals and cannot be detected. Another disadvantage is that the propagation time of sound waves in the air varies with temperature. Therefore, when the ultrasonic sensor is used in a temperature range, temperature compensation must be performed. Therefore, ultrasonic sensors are generally used for short distance measurements, and the optimum distance is 4 meters to 5 meters. (2) Passive infrared sensor Passive infrared sensors are based on measuring the thermal energy emitted by objects near the sensor to achieve ranging. Like the ultrasonic distance sensor, the main advantage of the passive infrared sensor is its low cost and small size. The main disadvantage is that the response time is too long, so that the driver's early warning is often not enough to avoid collision, which limits its collision alarm in the vehicle. Application in the system. (3) Lidar sensor Since the beam is generally concentrated, the lidar is mainly used for the measurement of a wide range of linear distances. Lidar has a large range, strong directionality and fast response time, but it is costly and vulnerable to external environment (such as low visibility and mud on the sensor surface). At the same time, the laser energy must be within the safety level of the human eye. (4) Continuous wave radar sensor CW radars use frequency-modulated high-frequency electromagnetic carriers (typically microwave frequencies or higher, usually zigzag signals). Comparing the reflected signal with the transmitted signal, a frequency difference proportional to the measured distance can be obtained. The relative velocity of the measured object can also be determined by the Doppler deflection of the return signal. The outstanding advantage of CW radar is its ability to "see" objects through dirt and spatter; and both narrow and wide beams can be used, making it possible to tailor the beam width to a particular application. The main disadvantage is that the electromagnetic devices in the microwave and millimeter wave bands are relatively expensive. In addition, electronically scanning a relatively narrow beam with a large detection range results in a larger measurement range and beamwidth, but the complexity and cost increase. Basic functions and working principle of anti-collision warning system According to the need for armored vehicles to prevent collisions in field conditions, the system should have the following functions: (1) Position and display nearby vehicles. It should be possible to locate the nearby vehicle and display it on the display. (2) Alarm when the distance between the two vehicles is less than the safe distance. The distance between the two workshops should be accurately measured. When the distance between the two vehicles is less than the safety distance (5m), an alarm is issued to alert the driver. The working principle of the system: The system uses the GPS system to locate the vehicle, receives the surrounding vehicle position through the wireless module and sends the vehicle position outward. Display the surrounding vehicles on the display and calculate the distance between the two vehicles. When the distance between the two vehicles is less than 15m, the distance sensor is used for accurate distance measurement, and when the distance is less than 5m, an alarm is issued. Compared with the performance of each sensor in the common vehicle distance detection technology, since the distance sensor distance measurement does not need to be too far, combined with cost and volume considerations, the ultrasonic sensor is selected as the close range finder in the system. An ultrasonic sensor is a device that converts other forms of energy into ultrasonic energy of the desired frequency or other forms of energy that converts ultrasonic energy into the same frequency. Ultrasonic ranging can be divided into two types: resonant and pulsed. Due to the application requirements, pulse reflection is used here, that is, the reflection characteristics of the ultrasound are utilized. The principle of ultrasonic ranging is to transmit ultrasonic waves in a certain direction through an ultrasonic transmitting sensor, and start timing at the same time as the transmitting time. The ultrasonic waves propagate in the air, and immediately return to the obstacle when the obstacle is encountered on the way, and the ultrasonic receiver stops counting when receiving the reflected wave. . According to the time t recorded by the timer, the distance (S) of the emission point from the obstacle can be calculated, that is, S=C&TImes;t/2, where C is the ultrasonic sound speed, and since the ultrasonic wave is also the sound wave, C is the speed of sound. . Empirical formula for sound velocity and field temperature: C = 331.5 + 0.607T. As long as the time difference t of the ultrasonic transmitting and receiving echoes and the field temperature T are measured, the distance from the transmitting point to the obstacle can be accurately calculated. It can be seen that the main parts of the ultrasonic ranging system are: (1) a pulse generator (transmitting circuit) for supplying electric energy; (2) a switch portion that isolates the receiving and transmitting; (3) converting the electrical energy into acoustic energy and transmitting the acoustic energy to the transmitting sensor in the medium; (4) receiving a reflected acoustic energy (echo) and a receiving sensor that converts the acoustic energy into an electrical signal; (5) The receiving amplifier can amplify the weak echo to a certain amplitude and cause the echo to excite the recording device; (6) A recording/control device that typically controls the power delivered to the sensor and controls the time at which the acoustic energy pulse is transmitted to record the echo, stores the required data, and converts the time interval into a distance. In the ultrasonic measurement system, the frequency acquisition is too low, and the external noise is more disturbed; the frequency is too high, and the attenuation is large in the process of propagation. Therefore, in ultrasonic measurement, ultrasonic waves of 40 kHz are often used. At present, the distance measured by ultrasonic waves is generally several meters to several tens of meters. Ultrasonic transmitting and receiving devices have high anti-interference performance due to their inherent frequency characteristics. The distance measurement system usually uses a pulse pressure wave with a frequency range of 25 kHz to 300 kHz. The transmitting and receiving sensors sometimes share one and sometimes separate. The transmitting circuit is generally composed of two parts: an oscillation and a power amplifier, and is responsible for outputting a high-voltage pulse train having a certain width to the sensor, and converting the sensor into sound energy to be emitted; the receiving amplifier is used for amplifying the echo signal for recording, and in order to enable it to receive A short pulse signal with a certain frequency bandwidth, the receiving amplifier should have sufficient frequency bandwidth; the receiving/transmitting isolation enables the receiving device to avoid a strong transmitting signal; the recording/control portion activates or deactivates the transmitting circuit and records the instantaneous and received transmission. Instantaneously convert the time difference into a distance reading and display or record it.
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