A shutdown control device for a driving assistance system

Abstract

The utility model relates to a kind of shutdown control device applied to driving assistance system, including steering switch module, power switch module, and gate, second voltage comparator, first voltage comparator, torsion sensor and brake pedal position sensor;The utility model utilizes torsion sensor to detect the torsion of steering wheel, brake pedal position sensor detects the position of brake pedal, when the voltage output by torsion sensor and / or brake pedal position sensor exceeds certain threshold, then it is artificial operation steering wheel or artificial treading brake, first voltage comparator and / or second voltage comparator output low level, then steering switch module and power switch module are all cut off, the intelligent driving controller of vehicle driving assistance system cannot send control signal to the steering controller and power controller of vehicle, the function of closing auxiliary driving is realized, and the auxiliary driving function of vehicle can be released using steering wheel or brake pedal.

Description

Technical Field

[0001] This utility model relates to the field of vehicle driver assistance technology, and specifically to a shutdown control device applied to a driver assistance system. Background Technology

[0002] Intelligent driver assistance functions have gradually become a trend in vehicle development, but at present, intelligent driver assistance cannot completely replace human driving. At least in some complex or emergency situations, manual operation of the vehicle is still required.

[0003] In existing technologies, in emergency situations, the intelligent driving assistance function is mainly deactivated by the brake pedal to prevent traffic accidents caused by the inadequacy of the intelligent driving assistance technology. However, during vehicle operation, steering control is often required to avoid driving risks. Therefore, relying solely on the brake pedal to deactivate intelligent driving assistance cannot meet the needs of vehicle driving safety. Utility Model Content

[0004] In order to solve the technical problems in the prior art, which rely solely on the brake pedal to disengage intelligent assisted driving during vehicle operation, thus failing to meet the requirements of vehicle driving safety, this utility model provides a shutdown control device for a driving assistance system.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows:

[0006] A shutdown control device for a driver assistance system includes a steering switch module, a power switch module, an AND gate, a second voltage comparator, a first voltage comparator, a torque sensor, and a brake pedal position sensor.

[0007] The signal output terminal of the torque sensor is connected to the inverting input terminal of the first voltage comparator, the non-inverting input terminal of the first voltage comparator is connected to the first reference voltage, and the output terminal of the first voltage comparator is connected to one of the input terminals of the AND gate.

[0008] The signal output terminal of the brake pedal position sensor is connected to the inverting input terminal of the second voltage comparator, the non-inverting input terminal of the second voltage comparator is connected to the second reference voltage, and the output terminal of the second voltage comparator is connected to the other input terminal of the AND gate.

[0009] The output terminals of the AND gate are respectively connected to the control terminals of the steering switch module and the power switch module. One end of the steering switch module is connected to the signal output terminal of the intelligent driving controller, and the other end of the steering switch module is connected to the signal input terminal of the steering controller. One end of the power switch module is connected to the signal output terminal of the intelligent driving controller, and the other end of the power switch module is connected to the signal input terminal of the power controller.

[0010] The beneficial effects of this utility model are as follows: a torque sensor detects the torque of the steering wheel, and a brake pedal position sensor detects the position of the brake pedal. When the output voltage of the torque sensor and / or the brake pedal position sensor exceeds a certain threshold, it indicates that the steering wheel has been manually operated or the brake pedal has been manually pressed. The first voltage comparator and / or the second voltage comparator output a low level, and therefore the AND gate outputs a low level signal. As a result, both the steering switch module and the power switch module are turned off, and the intelligent driving controller of the vehicle driving assistance system cannot send control signals to the vehicle's steering controller and power controller. This realizes the function of turning off the assisted driving and enables the vehicle's assisted driving function to be deactivated by using either the steering wheel or the brake pedal.

[0011] Based on the above technical solution, the present invention can be further improved as follows.

[0012] Furthermore, it also includes a first voltage regulation module and a second voltage regulation module. The input terminal of the first voltage regulation module is connected to a first power supply voltage, the output terminal of the first voltage regulation module is connected to the non-inverting input terminal of the first voltage comparator, and the ground terminal of the first voltage regulation module is grounded. The input terminal of the second voltage regulation module is connected to a second power supply voltage, the output terminal of the second voltage regulation module is connected to the non-inverting input terminal of the second voltage comparator, and the ground terminal of the second voltage regulation module is grounded.

[0013] The beneficial effect of adopting the above-mentioned further solution is that, by setting the first voltage adjustment module and the second voltage adjustment module, the magnitudes of the first reference voltage and the second reference voltage can be adjusted by the first voltage adjustment module and the second voltage adjustment module respectively.

[0014] Furthermore, the first voltage comparator includes a first resistor, a second resistor, and a first operational amplifier. One end of the first resistor is connected to the signal output terminal of the torque sensor, and the other end of the first resistor is connected to the inverting input terminal of the first operational amplifier. One end of the second resistor is connected to the first reference voltage, and the other end of the second resistor is connected to the non-inverting input terminal of the first operational amplifier. The output terminal of the first operational amplifier is connected to one of the input terminals of the AND gate.

[0015] Furthermore, the first voltage regulation module includes a third resistor, which is a variable resistor. One fixed terminal of the third resistor is connected to the first power supply voltage, and the other fixed terminal of the third resistor is grounded. The moving terminal of the third resistor is connected to one end of the second resistor.

[0016] Furthermore, the second voltage comparator includes a fourth resistor, a fifth resistor, and a second operational amplifier. One end of the fourth resistor is connected to the signal output terminal of the brake pedal position sensor, and the other end of the fourth resistor is connected to the inverting input terminal of the second operational amplifier. One end of the fifth resistor is connected to the second reference voltage, and the other end of the fifth resistor is connected to the non-inverting input terminal of the second operational amplifier. The output terminal of the second operational amplifier is connected to the other input terminal of the AND gate.

[0017] Furthermore, the second voltage regulation module includes a sixth resistor, which is a variable resistor. One fixed terminal of the sixth resistor is connected to the second power supply voltage, the other fixed terminal of the sixth resistor is grounded, and the moving terminal of the sixth resistor is connected to one end of the fifth resistor.

[0018] Furthermore, it also includes a signal amplification module, the input of which is connected to the output of the AND gate, and the output of which is connected to the control terminal of the turn signal switch module and the control terminal of the power switch module.

[0019] The beneficial effect of adopting the above-mentioned further solution is that by setting a signal amplification module, the output voltage of the AND gate can be amplified, thereby improving the driving capability of the AND gate output signal.

[0020] Furthermore, the steering switch module includes a first enhancement-mode PMOS transistor, a ninth resistor, a tenth resistor, and a first transistor. The source of the first enhancement-mode PMOS transistor is connected to the signal output terminal of the intelligent driving controller and one end of the ninth resistor, respectively. The other end of the ninth resistor is connected to the gate of the first enhancement-mode PMOS transistor, and the drain of the first enhancement-mode PMOS transistor is connected to the signal input terminal of the steering controller. The collector of the first transistor is connected to the gate of the first enhancement-mode PMOS transistor, the emitter of the first transistor is grounded, the base of the first transistor is connected to one end of the tenth resistor, and the other end of the tenth resistor is connected to the output terminal of the signal amplification module.

[0021] Furthermore, the power switch module includes a second enhancement-mode PMOS transistor, an eleventh resistor, a twelfth resistor, and a second transistor. The source of the second enhancement-mode PMOS transistor is connected to the signal output terminal of the intelligent driving controller and one end of the eleventh resistor, respectively. The other end of the eleventh resistor is connected to the gate of the second enhancement-mode PMOS transistor, and the drain of the second enhancement-mode PMOS transistor is connected to the signal input terminal of the power controller. The collector of the second transistor is connected to the gate of the second enhancement-mode PMOS transistor, the emitter of the second transistor is grounded, the base of the second transistor is connected to one end of the twelfth resistor, and the other end of the twelfth resistor is connected to the output terminal of the signal amplification module.

[0022] Furthermore, it also includes an audible and visual alarm module, which is connected to the output of the signal amplification module.

[0023] The beneficial effect of adopting the above-mentioned further solution is that, by setting up an audible and visual alarm module, an audible and visual alarm can be issued to alert the driver after the vehicle's assisted driving is disengaged. Attached Figure Description

[0024] Figure 1 This is a circuit block diagram of the present invention;

[0025] Figure 2 This is the circuit diagram of the first voltage comparator;

[0026] Figure 3 This is the circuit diagram for the second voltage comparator;

[0027] Figure 4 This is the circuit diagram of the signal amplification module;

[0028] Figure 5 This is the circuit diagram for the turn signal switch module;

[0029] Figure 6 This is the circuit diagram for the power switch module;

[0030] Figure 7 This is the circuit diagram for the audible and visual alarm module.

[0031] The attached diagram lists the components represented by each number as follows:

[0032] 1. Intelligent driving controller; 2. Steering switch module; 3. Power switch module; 4. Steering controller; 5. Power controller; 6. Signal amplification module; 7. AND gate; 8. Second voltage regulation module; 9. Second voltage comparator; 10. First voltage regulation module; 11. First voltage comparator; 12. Torque sensor; 13. Brake pedal position sensor; 14. Audible and visual alarm module. Detailed Implementation

[0033] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0034] like Figure 1 As shown, this embodiment provides a shutdown control device for a driving assistance system, including a steering switch module 2, a power switch module 3, an AND gate 7, a second voltage comparator 9, a first voltage comparator 11, a first voltage regulation module 10, a second voltage regulation module 8, a signal amplification module 6, an audible and visual alarm module 14, a torque sensor 12, and a brake pedal position sensor 13.

[0035] The signal output terminal of the torque sensor 12 is connected to the inverting input terminal of the first voltage comparator 11, the non-inverting input terminal of the first voltage comparator 11 is connected to the first reference voltage, and the output terminal of the first voltage comparator 11 is connected to one of the input terminals of the AND gate 7.

[0036] The signal output terminal of the brake pedal position sensor 13 is connected to the inverting input terminal of the second voltage comparator 9, the non-inverting input terminal of the second voltage comparator 9 is connected to the second reference voltage, and the output terminal of the second voltage comparator 9 is connected to the other input terminal of the AND gate 7.

[0037] The output terminal of AND gate 7 is connected to the control terminal of steering switch module 2 and the control terminal of power switch module 3 respectively. One end of steering switch module 2 is connected to the signal output terminal of intelligent driving controller 1, and the other end of steering switch module 2 is connected to the signal input terminal of steering controller 4. One end of power switch module 3 is connected to the signal output terminal of intelligent driving controller 1, and the other end of power switch module 3 is connected to the signal input terminal of power controller 5.

[0038] The input terminal of the signal amplification module 6 is connected to the output terminal of the AND gate 7, and the output terminal of the signal amplification module 6 is connected to the control terminal of the turn signal switch module 2 and the control terminal of the power switch module 3 respectively; the audible and visual alarm module 14 is connected to the output terminal of the signal amplification module 6.

[0039] By setting the signal amplification module 6, the output voltage of the AND gate can be amplified, thereby improving the driving capability of the AND gate output signal. By setting the audible and visual alarm module 14, an audible and visual alarm can be emitted to alert the driver after the vehicle's driver assistance system is disengaged.

[0040] The input terminal of the first voltage regulation module 10 is connected to a first power supply voltage, and the output terminal of the first voltage regulation module 10 is connected to the non-inverting input terminal of the first voltage comparator 11. The ground terminal of the first voltage regulation module 10 is grounded. The input terminal of the second voltage regulation module 8 is connected to a second power supply voltage, and the output terminal of the second voltage regulation module 8 is connected to the non-inverting input terminal of the second voltage comparator 9. The ground terminal of the second voltage regulation module 8 is grounded. By setting the first voltage regulation module 10 and the second voltage regulation module 8, the magnitudes of the first reference voltage and the second reference voltage can be adjusted respectively through the first voltage regulation module 10 and the second voltage regulation module 8.

[0041] This embodiment of the invention utilizes a torque sensor 12 to detect the torque of the steering wheel and a brake pedal position sensor 13 to detect the position of the brake pedal. When the output voltage of the torque sensor 12 and / or the brake pedal position sensor 13 exceeds a certain threshold, it indicates that the steering wheel has been manually operated or the brake pedal has been manually pressed. The first voltage comparator 11 and / or the second voltage comparator 9 output a low level, and therefore the AND gate outputs a low level signal. As a result, both the steering switch module 2 and the power switch module 3 are turned off, and the intelligent driving controller 1 of the vehicle driving assistance system cannot send control signals to the vehicle's steering controller 4 and power controller 5. This achieves the function of disabling the assisted driving function and enables the vehicle's assisted driving function to be deactivated by using either the steering wheel or the brake pedal.

[0042] like Figure 2 As shown, in some embodiments, the first voltage comparator 11 includes a first resistor R1, a second resistor R2, and a first operational amplifier U1. One end of the first resistor R1 is connected to the signal output terminal of the torque sensor 12, and the other end of the first resistor R1 is connected to the inverting input terminal of the first operational amplifier U1. One end of the second resistor R2 is connected to the first reference voltage, and the other end of the second resistor R2 is connected to the non-inverting input terminal of the first operational amplifier U1. The output terminal of the first operational amplifier U1 is connected to one of the input terminals of the AND gate 7. When the output voltage Vi1 of the torque sensor 12 is greater than the first reference voltage Vref1, the first operational amplifier U1 outputs a low-level signal, and the AND gate also outputs a low-level signal. When the output voltage Vi1 of the torque sensor 12 is less than the first reference voltage Vref1, the first operational amplifier U1 outputs a high-level signal.

[0043] The first voltage regulation module 10 includes a third resistor R3, which is a variable resistor. One fixed terminal of the third resistor R3 is connected to the first power supply voltage, and the other fixed terminal of the third resistor R3 is grounded. The moving terminal of the third resistor R3 is connected to one end of the second resistor R2. The magnitude of the first reference voltage Vref1 is adjusted by adjusting the resistance value of the third resistor R3.

[0044] The second voltage regulation module 8 includes a sixth resistor R6, which is a variable resistor. One fixed terminal of the sixth resistor R6 is connected to the second power supply voltage, and the other fixed terminal is grounded. The moving terminal of the sixth resistor R6 is connected to one end of the fifth resistor R5. The magnitude of the second reference voltage Vref2 is adjusted by adjusting the resistance value of the sixth resistor R6.

[0045] The first power supply voltage and the second power supply voltage can be the same, both provided by the vehicle's own power supply system.

[0046] like Figure 3 As shown, the second voltage comparator 9 includes a fourth resistor R4, a fifth resistor R5, and a second operational amplifier U2. One end of the fourth resistor R4 is connected to the signal output terminal of the brake pedal position sensor 13, and the other end of the fourth resistor R4 is connected to the inverting input terminal of the second operational amplifier U2. One end of the fifth resistor R5 is connected to the second reference voltage, and the other end of the fifth resistor R5 is connected to the non-inverting input terminal of the second operational amplifier U2. The output terminal of the second operational amplifier U2 is connected to the other input terminal of the AND gate 7.

[0047] When the output voltage Vi2 of the brake pedal position sensor 13 is greater than the second reference voltage Vref2, the second operational amplifier U2 outputs a low-level signal, and the AND gate also outputs a low-level signal. When the output voltage Vi2 of the brake pedal position sensor 13 is less than the second reference voltage Vref2, its second operational amplifier U2 outputs a high-level signal; the AND gate 7 only outputs a high-level signal when both the first operational amplifier U1 and the second operational amplifier U2 output high levels.

[0048] like Figure 4 As shown, signal amplification module 6 includes a seventh resistor R7, an eighth resistor R8, and a third operational amplifier U3. The non-inverting input of the third operational amplifier U3 is connected to one end of the seventh resistor R7 and one end of the eighth resistor R8, respectively. The other end of the seventh resistor R7 is connected to the output of the third operational amplifier U3, and the other end of the eighth resistor R8 is grounded. The inverting input of the third operational amplifier U3 is connected to the output of AND gate 7. The amplification formula of the amplifier circuit composed of the seventh resistor R7, the eighth resistor R8, and the third operational amplifier U3 is:

[0049] Vo3 = Vi31 + R7 / R8, where Vo3 represents the output voltage of signal amplification module 6, Vi3 represents the output voltage of AND gate 7, R7 represents the resistance value of the seventh resistor R7, and R8 represents the resistance value of the eighth resistor R8.

[0050] like Figure 5As shown, the steering switch module 2 includes a first enhancement-mode PMOS transistor Q1, a ninth resistor R9, a tenth resistor R10, and a first transistor Q2. The source of the first enhancement-mode PMOS transistor Q1 is connected to the signal output terminal of the intelligent driving controller 1 and one end of the ninth resistor R9. The other end of the ninth resistor R9 is connected to the gate of the first enhancement-mode PMOS transistor Q1. The drain of the first enhancement-mode PMOS transistor Q1 is connected to the signal input terminal of the steering controller 4. The collector of the first transistor Q2 is connected to the gate of the first enhancement-mode PMOS transistor Q1. The emitter of the first transistor Q2 is grounded. The base of the first transistor Q2 is connected to one end of the tenth resistor R10. The other end of the tenth resistor R10 is connected to the output terminal of the signal amplification module 6.

[0051] When the signal amplification module 6 outputs a high level, the first transistor Q2 is turned on, the gate of the first enhancement-mode PMOS transistor Q1 is grounded, and the gate voltage of the first enhancement-mode PMOS transistor Q1 is lower than the threshold value. Therefore, the first enhancement-mode PMOS transistor Q1 is turned on, and the intelligent driving controller 1 and the steering controller 4 are connected, enabling the vehicle's steering control via the vehicle's driver assistance system. When the signal amplification module 6 outputs a low level, the first transistor Q2 is turned off, the gate voltage of the first enhancement-mode PMOS transistor Q1 is the same as its source voltage, and the first enhancement-mode PMOS transistor Q1 is turned off. This also turns off the intelligent driving controller 1 and the steering controller 4, disabling the vehicle's steering control function via the driver assistance system.

[0052] like Figure 6 As shown, the power switch module 3 includes a second enhancement-mode PMOS transistor Q3, an eleventh resistor R11, a twelfth resistor R12, and a second transistor Q4. The source of the second enhancement-mode PMOS transistor Q3 is connected to the signal output terminal of the intelligent driving controller 1 and one end of the eleventh resistor R11. The other end of the eleventh resistor R11 is connected to the gate of the second enhancement-mode PMOS transistor Q3. The drain of the second enhancement-mode PMOS transistor Q3 is connected to the signal input terminal of the power controller 5. The collector of the second transistor Q4 is connected to the gate of the second enhancement-mode PMOS transistor Q3. The emitter of the second transistor Q4 is grounded. The base of the second transistor Q4 is connected to one end of the twelfth resistor R12. The other end of the twelfth resistor R12 is connected to the output terminal of the signal amplification module 6.

[0053] When the signal amplification module 6 outputs a high level, the second transistor Q4 is turned on, the gate of the second enhancement-mode PMOS transistor Q3 is grounded, and the gate voltage of the second enhancement-mode PMOS transistor Q3 is lower than the threshold value, so the second enhancement-mode PMOS transistor Q3 is turned on. This connects the intelligent driving controller 1 and the power controller 5, enabling the vehicle's power control via the vehicle's driver assistance system. When the signal amplification module 6 outputs a low level, the second transistor Q4 is turned off, the gate voltage of the second enhancement-mode PMOS transistor Q3 is the same as its source voltage, and the second enhancement-mode PMOS transistor Q3 is turned off. This also turns off the intelligent driving controller 1 and the power controller 5, disabling the vehicle's driver assistance system's function of controlling the vehicle's power.

[0054] like Figure 7 As shown, the audible and visual alarm module 14 includes a thirteenth resistor R13, a fourteenth resistor R14, a third transistor Q5, a normally closed switch S1, an LED D1, and a buzzer D2. One end of the fourteenth resistor R14 is connected to the output terminal of the signal amplification module 6, and the output terminal of the fourteenth resistor R14 is connected to the base of the third transistor Q5. The collector of the third transistor Q5 is connected to one end of the thirteenth resistor R13, the positive terminal of the LED D1, and the positive terminal of the buzzer D2. The emitter of the third transistor Q5, the negative terminal of the LED D1, and the negative terminal of the buzzer D2 are all grounded. The other end of the thirteenth resistor R13 is connected to a 5V power supply voltage through a series normally closed switch S1. The 5V power supply voltage can be provided by the power supply system of the vehicle's central control system.

[0055] When signal amplification module 6 outputs a high-level signal, the third transistor Q5 conducts, and the positive terminals of LED D1 and buzzer D2 are grounded, resulting in no power input to either LED D1 or buzzer D2. When signal amplification module 6 outputs a low-level signal, the third transistor Q5 is cut off, and the positive terminals of LED D1 and buzzer D2 are powered by a 5V power supply. LED D1 illuminates, and buzzer D2 emits a buzzing sound, indicating that the vehicle's driver assistance function has been deactivated. After LED D1 illuminates and buzzer D2 emits a buzzing sound, the driver, upon receiving the audible and visual alert, can manually cut off the power supply to LED D1 and buzzer D2 by pressing normally closed switch S1 to deactivate the audible and visual alarm.

[0056] It should be noted that the connection in this application refers to an electrical connection via wires or conductors; the intelligent driving controller 1, steering controller 4, and power controller 5 are all controllers owned by vehicles with intelligent assisted driving functions, and are usually developed by MCU, CPU, microcontroller, etc.

[0057] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the concept and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A shutdown control device for use in a driver assistance system, characterized in that: It includes a steering switch module (2), a power switch module (3), an AND gate (7), a second voltage comparator (9), a first voltage comparator (11), a torque sensor (12), and a brake pedal position sensor (13). The signal output terminal of the torque sensor (12) is connected to the inverting input terminal of the first voltage comparator (11), the non-inverting input terminal of the first voltage comparator (11) is connected to the first reference voltage, and the output terminal of the first voltage comparator (11) is connected to one of the input terminals of the AND gate (7). The signal output terminal of the brake pedal position sensor (13) is connected to the inverting input terminal of the second voltage comparator (9), the non-inverting input terminal of the second voltage comparator (9) is connected to the second reference voltage, and the output terminal of the second voltage comparator (9) is connected to the other input terminal of the AND gate (7). The output terminal of the AND gate (7) is connected to the control terminal of the steering switch module (2) and the control terminal of the power switch module (3), respectively. One end of the steering switch module (2) is connected to the signal output terminal of the intelligent driving controller (1), and the other end of the steering switch module (2) is connected to the signal input terminal of the steering controller (4). One end of the power switch module (3) is connected to the signal output terminal of the intelligent driving controller (1), and the other end of the power switch module (3) is connected to the signal input terminal of the power controller (5).

2. The shutdown control device for a driving assistance system according to claim 1, characterized in that: It also includes a first voltage regulation module (10) and a second voltage regulation module (8). The input terminal of the first voltage regulation module (10) is connected to a first power supply voltage, the output terminal of the first voltage regulation module (10) is connected to the non-inverting input terminal of the first voltage comparator (11), and the ground terminal of the first voltage regulation module (10) is grounded. The input terminal of the second voltage regulation module (8) is connected to a second power supply voltage, the output terminal of the second voltage regulation module (8) is connected to the non-inverting input terminal of the second voltage comparator (9), and the ground terminal of the second voltage regulation module (8) is grounded.

3. The shutdown control device for a driving assistance system according to claim 2, characterized in that: The first voltage comparator (11) includes a first resistor (R1), a second resistor (R2), and a first operational amplifier (U1). One end of the first resistor (R1) is connected to the signal output terminal of the torque sensor (12), and the other end of the first resistor (R1) is connected to the inverting input terminal of the first operational amplifier (U1). One end of the second resistor (R2) is connected to the first reference voltage, and the other end of the second resistor (R2) is connected to the non-inverting input terminal of the first operational amplifier (U1). The output terminal of the first operational amplifier (U1) is connected to one of the input terminals of the AND gate (7).

4. The shutdown control device for a driving assistance system according to claim 3, characterized in that: The first voltage regulation module (10) includes a third resistor (R3), which is a variable resistor. One fixed end of the third resistor (R3) is connected to the first power supply voltage, and the other fixed end of the third resistor (R3) is grounded. The moving end of the third resistor (R3) is connected to one end of the second resistor (R2).

5. The shutdown control device for a driving assistance system according to claim 2, characterized in that: The second voltage comparator (9) includes a fourth resistor (R4), a fifth resistor (R5), and a second operational amplifier (U2). One end of the fourth resistor (R4) is connected to the signal output terminal of the brake pedal position sensor (13), and the other end of the fourth resistor (R4) is connected to the inverting input terminal of the second operational amplifier (U2). One end of the fifth resistor (R5) is connected to the second reference voltage, and the other end of the fifth resistor (R5) is connected to the non-inverting input terminal of the second operational amplifier (U2). The output terminal of the second operational amplifier (U2) is connected to the other input terminal of the AND gate (7).

6. The shutdown control device for a driving assistance system according to claim 5, characterized in that: The second voltage regulation module (8) includes a sixth resistor (R6), which is a variable resistor. One fixed end of the sixth resistor (R6) is connected to the second power supply voltage, and the other fixed end of the sixth resistor (R6) is grounded. The moving end of the sixth resistor (R6) is connected to one end of the fifth resistor (R5).

7. The shutdown control device for a driving assistance system according to claim 1, characterized in that: It also includes a signal amplification module (6), the input of which is connected to the output of the AND gate (7), and the output of which is connected to the control of the turn signal switch module (2) and the control of the power switch module (3).

8. The shutdown control device for a driving assistance system according to claim 7, characterized in that: The steering switch module (2) includes a first enhancement-mode PMOS transistor (Q1), a ninth resistor (R9), a tenth resistor (R10), and a first transistor (Q2). The source of the first enhancement-mode PMOS transistor (Q1) is connected to the signal output terminal of the intelligent driving controller (1) and one end of the ninth resistor (R9). The other end of the ninth resistor (R9) is connected to the gate of the first enhancement-mode PMOS transistor (Q1). The drain of the first enhancement-mode PMOS transistor (Q1) is connected to the signal input terminal of the steering controller (4). The collector of the first transistor (Q2) is connected to the gate of the first enhancement-mode PMOS transistor (Q1). The emitter of the first transistor (Q2) is grounded. The base of the first transistor (Q2) is connected to one end of the tenth resistor (R10). The other end of the tenth resistor (R10) is connected to the output terminal of the signal amplification module (6).

9. The shutdown control device for a driving assistance system according to claim 7, characterized in that: The power switch module (3) includes a second enhancement-mode PMOS transistor (Q3), an eleventh resistor (R11), a twelfth resistor (R12), and a second transistor (Q4). The source of the second enhancement-mode PMOS transistor (Q3) is connected to the signal output terminal of the intelligent driving controller (1) and one end of the eleventh resistor (R11). The other end of the eleventh resistor (R11) is connected to the gate of the second enhancement-mode PMOS transistor (Q3). The drain of the second enhancement-mode PMOS transistor (Q3) is connected to the signal input terminal of the power controller (5). The collector of the second transistor (Q4) is connected to the gate of the second enhancement-mode PMOS transistor (Q3). The emitter of the second transistor (Q4) is grounded. The base of the second transistor (Q4) is connected to one end of the twelfth resistor (R12). The other end of the twelfth resistor (R12) is connected to the output terminal of the signal amplification module (6).

10. The shutdown control device for a driving assistance system according to claim 7, characterized in that: It also includes an audible and visual alarm module (14), which is connected to the output of the signal amplification module (6).

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