CN103204159A - Electric vehicle turning auxiliary system and control method - Google Patents

Electric vehicle turning auxiliary system and control method Download PDF

Info

Publication number
CN103204159A
CN103204159A CN2013100093270A CN201310009327A CN103204159A CN 103204159 A CN103204159 A CN 103204159A CN 2013100093270 A CN2013100093270 A CN 2013100093270A CN 201310009327 A CN201310009327 A CN 201310009327A CN 103204159 A CN103204159 A CN 103204159A
Authority
CN
China
Prior art keywords
vehicle
turning
chaufeur
turn
demand
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
CN2013100093270A
Other languages
Chinese (zh)
Other versions
CN103204159B (en
Inventor
黄小枫
金启前
由毅
吴成明
赵福全
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd
Original Assignee
Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd Hangzhou Branch
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 Zhejiang Geely Holding Group Co Ltd, Zhejiang Geely Automobile Research Institute Co Ltd, Zhejiang Geely Automobile Research Institute Co Ltd Hangzhou Branch filed Critical Zhejiang Geely Holding Group Co Ltd
Priority to CN201310009327.0A priority Critical patent/CN103204159B/en
Publication of CN103204159A publication Critical patent/CN103204159A/en
Application granted granted Critical
Publication of CN103204159B publication Critical patent/CN103204159B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The invention relates to an electric vehicle turning auxiliary system and a control method, and solves the problem of vehicle scratch or collision events due to unskilled driving or fatigue of a driver. The turning auxiliary system comprises a vehicle control unit, a radar probe, a camera and a steering wheel angle sensor. The control method includes the steps: judging whether a current vehicle needs steering or not and limiting the turning speed of the vehicle if the current vehicle needs steering; and then detecting whether current operation of the driver and a current turning space meet turning requirements or not, replacing the driver to turn the vehicle by the vehicle control unit if not, and giving an alarm and stopping the vehicle if the current turning space cannot meet the turning requirements. The turning auxiliary system and the control method have the advantages that external environment monitoring, steering-by-wire, electric vehicle control technology and image data processing are combined, a turning auxiliary function for the vehicle is realized, the burden of the driver is relieved, vehicle safety is ensured, scratch is avoided, and economic loss is decreased.

Description

A kind of battery-driven car turning ancillary system and control method
 
Technical field
The present invention relates to a kind of automobile control technology, especially relate to a kind of alleviating and drive burden, avoid abrasive battery-driven car turning ancillary system and control method.
Background technology
The turning ancillary system of electronlmobil is to realize control automatically by entire car controller, the cover system that driver assistance person turns, and this system can also substitute chaufeur the turning process of vehicle is operated under the condition that guarantees vehicle safety.Current, the city vehicle recoverable amount is in continuous increase, and road is more and more crowded, and increasing people has just taken driver's license and just driven to set out on a journey, owing to traffic accident, the event that hangs that new hand causes are also more and more.The employing of turning ancillary system has guaranteed chaufeur in the safety of turning and operating, and has avoided because driving skills vehicle unskilled or that driver fatigue causes hangs or the generation of collision accident.
Existing turning ancillary system is turning system increase by one cover mechanical-hydraulic work-saving device or the electric booster in conventional truck on the current market, or at the basis of existing work-saving device increase by one cover vehicle stabilization system, guarantee vehicle in the turning process, the planning that is caused by speed of a motor vehicle problem or the generation of car accident.But existing turning ancillary system is just for turning provides power-assisted and stability, turns when non-safe in operation occurring at chaufeur, can not control vehicle and avoid the generation of swiping or colliding.
Summary of the invention
The present invention solves because driving skills vehicle unskilled or that driver fatigue causes hangs or the problem of the generation of collision accident, provides a kind of alleviating to drive burden, avoid abrasive battery-driven car turning ancillary system and control method.
The present invention has also solved general turning ancillary system and only turning is provided power-assisted and guarantees the stability of turning, can not when the non-safe in operation of chaufeur, control vehicle and avoid the problem of swiping or colliding, provide a kind of alleviating to drive burden, avoid abrasive battery-driven car turning ancillary system and control method.
Above-mentioned technical matters of the present invention is mainly solved by following technical proposals: a kind of battery-driven car turning ancillary system, comprise entire car controller, radar probe, camera and steering wheel angle sensor, described radar probe, camera, steering wheel angle sensor are connected on the entire car controller
Radar probe: spacing, the relative velocity of vehicle before and after detecting, and the distance of vehicle two lateral extent roadsides or obstacle;
Camera: take vehicle-surroundings environment photo, the checking road conditions;
Entire car controller: the data according to radar probe and camera restore to be the virtual road environment of the origin of coordinates when vehicle in front, are detecting the chaufeur operation of turning, and decision operation is non-alternative chaufeur realization turn inside diameter or parking when safe.
2. battery-driven car turning auxiliary control method adopts the turning ancillary system of claim 1, it is characterized in that: may further comprise the steps:
A. by radar probe and camera collection road information, entire car controller sets up to be the virtual road environment of the origin of coordinates when vehicle in front according to the data of radar probe and camera;
B. to whether turning to demand to judge when vehicle in front, if the turning demand is arranged, turn inside diameter speed is limited;
C. detect the current operation of chaufeur and whether current turning space satisfies the turning demand, not detecting when satisfying then replaces chaufeur to finish the turn inside diameter action by entire car controller, and if the operation of turning demand can't be satisfied in current turning space, report to the police and stop.Current operation calculates the required space of turning to entire car controller according to chaufeur, compares to see whether satisfy the turning demand with current turning space then.If the insufficient space that calculates is compared in current turning space, then replace chaufeur to finish the turn inside diameter action by entire car controller, entire car controller adjustment operation is namely adjusted angle of turn and the speed of a motor vehicle and is made vehicle to carry out safety turning in current turning space.Entire car controller calculates the required space of safety turning according to operation that can safety turning, if the still words of deficiency of safety turning space are compared in current turning space, judge then and can't turn that then entire car controller carries out warning reminding, controls vehicle parking simultaneously.This driver's operation demand is the anglec of rotation of bearing circle.
The present invention handles external environment condition monitoring, steering-by-wire, Control of Electric Vehicles technology, view data to combine, realized the turning additional function of automobile, unskilled in the face of the road of urban congestion and chaufeur skill, use by the turning ancillary system, can alleviate the burden of chaufeur, guarantee vehicle safety, avoided scratch, reduced economic loss.
As a kind of preferred version, set up among the step a when vehicle in front be that the process of the virtual road environment of the origin of coordinates is:
By spacing, the relative velocity of vehicle before and after the detection of radar probe, and the distance of vehicle two lateral extent roadsides or obstacle; Take vehicle-surroundings environment photo by camera, identify vehicle and be specially vehicle, pedestrian or obstacle, entire car controller sets up to be the virtual road environment of the origin of coordinates when vehicle in front according to the information of radar probe and camera;
This radar probe can detect the spacing with the front and back vehicle, and according to the variation of distance between the vehicle of in a period of time and front and back, when the speed of a motor vehicle of vehicle in front, the radar probe also detects the vehicle both sides to the distance between the obstacle to vehicle simultaneously relatively before and after calculating.Camera is taken the vehicle's surroundings environment, by image recognition technology identify when vehicle in front all around be vehicle, people or obstacle.Entire car controller is according to these data, and just can set up one is the virtual road environment of the origin of coordinates to work as vehicle in front.
As a kind of preferred version, the determination step process to the Vehicular turn demand among the step b is:
Gather the chaufeur bearing circle anglec of rotation by steering wheel sensor, calculate the angle of turn of vehicle, and the virtual road environmental information of setting up according to entire car controller, this angle of turn is judged, if angle of turn less than setting value, is namely revised vehicle heading by a small margin, then be judged to be chaufeur and adjust vehicle heading, if angle of turn greater than setting value, is namely adjusted vehicle heading significantly, then be judged to be vehicle and turn to demand.System judges according to the turn inside diameter angular dimension whether vehicle turns, bigger operation has been judged to be the demand that turns to steering angle in this programme, the less turning of steering angle is also arranged certainly, but this situation is turned and is not easy to take place situation about can't turn, can not influence the judgement in this programme as being to adjust vehicle heading.
As a kind of preferred version, the process that among the step b turn inside diameter speed is limited is:
Road environment information according to radar probe and camera feedback, judge the turn inside diameter space, and in conjunction with the information when the speed of a motor vehicle of vehicle in front, vehicle commander, overall width, calculate the safety turning speed of a motor vehicle of safety turning, if current vehicle speed greater than the safety turning speed of a motor vehicle, then limits car speed to the safety turning speed of a motor vehicle.According to the virtual road environment of being set up by the information of radar probe and camera, can detect vehicle front whether obstacle is arranged, if have obstacle then to detect and obstacle between distance, also detect the vehicle both sides simultaneously whether obstacle is arranged, if have obstacle then to detect and obstacle between distance, in addition, can also judge road ahead according to the virtual road environment whether the turning road is arranged, just can judge the space of turn inside diameter according to these feedback informations, and then according to the speed of a motor vehicle when vehicle in front, the vehicle commander, the information calculations of overall width goes out the safety turning speed of a motor vehicle of safety turning, if current vehicle speed is greater than the safety turning speed of a motor vehicle, then the speed of a motor vehicle is controlled, made the speed of a motor vehicle will arrive the safety turning speed of a motor vehicle.The turning speed of a motor vehicle is revised, made car speed be adjusted in the safe range, the assurance vehicle is turned according to demand at the basis of safety realization vehicle, and it is minimum that the influence that also the back vehicle is caused simultaneously reaches.
As a kind of preferred version, the turning auxiliary control method also comprises steps d. after vehicle is realized the turning demand, entire car controller is monitored the demand operation of chaufeur, if in the setting-up time section, the operation of chaufeur demand is normal, and the ancillary system of then turning is released, if in setting-up time, judge that the chaufeur demand is operating as non-safe in operation, entire car controller replaces the shut-down operation of pilot's line of vision vehicle.This scheme is in order to confirm whether driver's operation is normal, and after finishing in turning action, chaufeur does not carry out any operation, and then the system default chaufeur is in abnomal condition, and the control vehicle keeps to the side to stop automatically.Further guaranteed the safety of chaufeur.
As a kind of preferred version, when entire car controller replaced chaufeur control vehicle to turn or stop, entire car controller locked, and ineffective treatment is carried out in the demand operation of chaufeur handle.When entire car controller replaces chaufeur to operate, ineffective treatment is carried out in the demand operation of chaufeur handle, make the operation of chaufeur mistake can not disturb the operation of supplementary controlled system.The demand operation of this chaufeur comprises the control to bearing circle.
As a kind of preferred version, before each vehicle launch, the turning ancillary system is carried out self check, the self check process comprises: to the detection of each element condition of turning ancillary system, detection to the program code in the entire car controller, if it is normal to detect the operation of turning ancillary system, allow to start the turning ancillary system, if detect turning ancillary system operation exception, the then startup of no turn ancillary system automatically, and report to the police, when vehicle next time starts, detect the operation of turning ancillary system normal till.
As a kind of preferred version, the turning auxiliary control method also includes hard closing control, if entire car controller receives the hard closing signal, the auxiliary control that then stops to turn is closed the turning ancillary system and opened again until next time.At vehicle the turning supplemental button is installed, in order to start or to close the turning ancillary system, makes chaufeur to decide in its sole discretion and whether will open the turning ancillary system.In the auxiliary operational process of turning, if chaufeur will withdraw from this function, as long as press the turning supplemental button, the realization chaufeur is manually turned.
Therefore, the present invention has advantage: external environment condition monitoring, steering-by-wire, Control of Electric Vehicles technology, view data are handled and combined, realized the turning additional function of automobile, unskilled in the face of the road of urban congestion and chaufeur skill, by the use of turning ancillary system, can alleviate the burden of chaufeur, guaranteed vehicle safety, avoid scratch, reduced economic loss.
Description of drawings
Accompanying drawing 1 is a kind of structural representation of the present invention;
Accompanying drawing 2 is a kind of schematic flow sheets of control method of the present invention.
1-radar probe 2-camera 3-entire car controller 4-steering wheel angle sensor
The specific embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment:
A kind of battery-driven car turning of present embodiment ancillary system as shown in Figure 1, includes entire car controller 3, radar probe 1, camera 2 and steering wheel sensor 4.This radar probe and camera are connected respectively in the car load control, and steering wheel sensor is connected on the entire car controller.
Spacing, the relative velocity of vehicle before and after this radar probe detects, and the distance of vehicle two lateral extent roadsides or obstacle; Camera is taken vehicle-surroundings environment photo, the checking road conditions; Entire car controller: the data according to radar probe and camera restore to be the virtual road environment of the origin of coordinates when vehicle in front, are detecting the chaufeur operation of turning, and decision operation is non-alternative chaufeur realization turn inside diameter or parking when safe.Steering wheel sensor detects square disc spins angle, and calculates the turn inside diameter angle by entire car controller according to the angle gauge that steering wheel sensor detects.
The control method of this battery-driven car turning ancillary system is:
Step 1: before automobile starting, the turning ancillary system is carried out self check, the self check process comprises: to the detection of each element condition of turning ancillary system, detection to the program code in the entire car controller, if it is normal to detect the operation of turning ancillary system, allow to start the turning ancillary system, if detect turning ancillary system operation exception, the then startup of no turn ancillary system automatically, and report to the police, when vehicle startup next time, detect the operation of turning ancillary system and normally just start the turning ancillary system.
Step 2: after the turning ancillary system starts, spacing, the relative velocity of vehicle before and after this radar probe detects, and the distance of vehicle two lateral extent roadsides or obstacle; Take vehicle-surroundings environment photo by camera, identify vehicle and be specially vehicle, pedestrian or obstacle, entire car controller sets up to be the virtual road environment of the origin of coordinates when vehicle in front according to the information of radar probe and camera.
Step 3: the turning ancillary system is monitored the demand operation of chaufeur in real time in the vehicle driving process, be whether chaufeur turns, the real-time detection side of this steering wheel angle sensor is to the disc spins angle, entire car controller compares according to the turning threshold value of the detected value of steering wheel angle sensor and setting, if angle of turn is less than setting value, namely revise vehicle heading by a small margin, be judged to be chaufeur and adjust vehicle heading, the turning ancillary system is failure to actuate; If angle of turn greater than setting value, is namely adjusted vehicle heading significantly, be judged to be vehicle and turn to demand.
Step 4: after judging that vehicle turns to demand, entire car controller is according to the road environment information of radar probe and camera feedback, obtain current turn inside diameter space, and in conjunction with the information when the speed of a motor vehicle of vehicle in front, vehicle commander, overall width, calculate the safety turning vehicle velocity V of safety turning under current turning space, current vehicle speed and safety turning vehicle velocity V are compared, if current vehicle speed less than the safety turning vehicle velocity V, then enters step 5; If current vehicle speed greater than the safety turning vehicle velocity V, is then controlled the speed of a motor vehicle, restricted speed enters step 5 then to safety turning vehicle velocity V or following.
Step 5: according to the speed of a motor vehicle when vehicle in front, calculate current turning space and whether satisfy the operation of turning demand, namely according to current turn inside diameter space, the speed of a motor vehicle calculates required angle of turn, judge whether this angle of turn is feasible, if this angle of turn is infeasible unsafe, judge that then current turning space can not turn under current vehicle speed, this moment, entire car controller replaced chaufeur that vehicle is controlled, report to the police and control vehicle parking, entire car controller locks control in this process, namely ineffective treatment is carried out in the demand operation of chaufeur and handles.Satisfy the operation of turning demand if calculate current turning space, then enter step 6.
Step 6: calculate whether satisfy the turning demand according to the current turning of chaufeur operation, current turning space and current vehicle speed, if the turning demand is satisfied in the current operation of chaufeur, can safety turning, then finish turning by vehicle according to the operational requirements of chaufeur; If the current operation of chaufeur can not be satisfied the turning demand, then by entire car controller correction chaufeur angle of turn, replace chaufeur to finish turn inside diameter, entire car controller locks control in this process, namely ineffective treatment is carried out in the demand operation of chaufeur and handles.
Step 7: after vehicle is realized the turning demand, entire car controller is monitored the demand operation of chaufeur, if in the setting-up time section, the operation of chaufeur demand is normal, the ancillary system of then turning withdraws from, if in setting-up time, it is improper to judge that the chaufeur demand is operating as operation, and entire car controller replaces the shut-down operation of pilot's line of vision vehicle.Here the abnormal operation of chaufeur is the chaufeur operation of turning again after turning, but still can not turn safely, then repeat the operation of above-mentioned steps three to six, judge that the operation of chaufeur demand is improper this moment, the vehicle control unit controls vehicle keeps to the side to stop, can prevent chaufeur like this since before faulty operation flurried, cause the next problem of a series of faulty operation.After turning action was finished, chaufeur did not carry out any operation in addition, and then system judges that also chaufeur is in abnomal condition, and the control vehicle keeps to the side to stop automatically.
Also there is hard closing control in the turning ancillary system, and the button that control turning ancillary system opens and closes also is installed on vehicle, and this button is connected on the entire car controller.In the process of turning ancillary system operation, if chaufeur is pressed this button, entire car controller receives signal, then makes the turning ancillary system withdraw from.
Specific embodiment described herein only is that spirit of the present invention is made casehistory.Those skilled in the art can make various modifications or replenish or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although this paper has used terms such as radar probe, camera, entire car controller, steering wheel angle sensor morely, do not get rid of the possibility of using other term.Using these terms only is in order to describe and explain essence of the present invention more easily; They are construed to any additional restriction all is contrary with spirit of the present invention.

Claims (9)

1. battery-driven car turning ancillary system, comprise entire car controller, it is characterized in that: also include radar probe (1), camera (2) and steering wheel angle sensor (4), described radar probe, camera, steering wheel angle sensor are connected on the entire car controller (3)
Radar probe: spacing, the relative velocity of vehicle before and after detecting, and the distance of vehicle two lateral extent roadsides or obstacle;
Camera: take vehicle-surroundings environment photo, the checking road conditions;
Entire car controller: the data according to radar probe and camera restore to be the virtual road environment of the origin of coordinates when vehicle in front, are detecting the chaufeur operation of turning, and decision operation is non-alternative chaufeur realization turn inside diameter or parking when safe.
2. battery-driven car turning auxiliary control method adopts the turning ancillary system of claim 1, it is characterized in that: may further comprise the steps:
A. by radar probe and camera collection road information, entire car controller sets up to be the virtual road environment of the origin of coordinates when vehicle in front according to the data of radar probe and camera;
B. to whether turning to demand to judge when vehicle in front, if the turning demand is arranged, turn inside diameter speed is limited;
C. detect the current operation of chaufeur and whether current turning space satisfies the turning demand, not detecting when satisfying then replaces chaufeur to finish the turn inside diameter action by entire car controller, and if the operation of turning demand can't be satisfied in current turning space, report to the police and stop.
3. a kind of battery-driven car turning auxiliary control method according to claim 2, it is characterized in that setting up among the step a when vehicle in front be that the process of the virtual road environment of the origin of coordinates is:
By spacing, the relative velocity of vehicle before and after the detection of radar probe, and the distance of vehicle two lateral extent roadsides or obstacle; Take vehicle-surroundings environment photo by camera, identify vehicle and be specially vehicle, pedestrian or obstacle, entire car controller sets up to be the virtual road environment of the origin of coordinates when vehicle in front according to the information of radar probe and camera.
4. a kind of battery-driven car turning auxiliary control method according to claim 2 is characterized in that the determination step process to the Vehicular turn demand is among the step b:
Gather the chaufeur bearing circle anglec of rotation by steering wheel sensor, calculate the angle of turn of vehicle, and the virtual road environmental information of setting up according to entire car controller, this angle of turn is judged, if angle of turn less than setting value, is namely revised vehicle heading by a small margin, then be judged to be chaufeur and adjust vehicle heading, if angle of turn greater than setting value, is namely adjusted vehicle heading significantly, then be judged to be vehicle and turn to demand.
5. a kind of battery-driven car turning auxiliary control method according to claim 2 is characterized in that the process that among the step b turn inside diameter speed is limited is:
Road environment information according to radar probe and camera feedback, judge the turn inside diameter space, and in conjunction with the information when the speed of a motor vehicle of vehicle in front, vehicle commander, overall width, calculate the safety turning speed of a motor vehicle of safety turning, if current vehicle speed greater than the safety turning speed of a motor vehicle, then limits car speed to the safety turning speed of a motor vehicle.
6. a kind of battery-driven car turning auxiliary control method according to claim 2, it is characterized in that also comprising steps d. after vehicle is realized the turning demand, entire car controller is monitored the demand operation of chaufeur, if in the setting-up time section, the operation of chaufeur demand is normal, and the ancillary system of then turning withdraws from, if in setting-up time, judge that the chaufeur demand is operating as non-safe in operation, entire car controller replaces the shut-down operation of pilot's line of vision vehicle.
7. according to claim 2 or 6 described a kind of battery-driven car turning auxiliary control methods, it is characterized in that entire car controller locks when entire car controller replaces chaufeur control vehicle to turn or stop, ineffective treatment is carried out in the demand operation of chaufeur handle.
8. according to each described a kind of battery-driven car turning auxiliary control method of claim 2 to 6, it is characterized in that before each vehicle launch, the turning ancillary system is carried out self check, the self check process comprises: to the detection of each element condition of turning ancillary system, detection to the program code in the entire car controller, if it is normal to detect the operation of turning ancillary system, allow to start the turning ancillary system, if detect turning ancillary system operation exception, the then startup of no turn ancillary system automatically, and report to the police, when vehicle next time starts, detect the operation of turning ancillary system normal till.
9. according to each described a kind of battery-driven car turning auxiliary control method of claim 2 to 6, it is characterized in that also including hard closing control, if entire car controller receives the hard closing signal, the auxiliary control that then stops to turn is closed the turning ancillary system and is opened again until next time.
CN201310009327.0A 2013-01-10 2013-01-10 A kind of battery-driven car turn assist system and control method Active CN103204159B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310009327.0A CN103204159B (en) 2013-01-10 2013-01-10 A kind of battery-driven car turn assist system and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310009327.0A CN103204159B (en) 2013-01-10 2013-01-10 A kind of battery-driven car turn assist system and control method

Publications (2)

Publication Number Publication Date
CN103204159A true CN103204159A (en) 2013-07-17
CN103204159B CN103204159B (en) 2016-04-27

Family

ID=48751624

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310009327.0A Active CN103204159B (en) 2013-01-10 2013-01-10 A kind of battery-driven car turn assist system and control method

Country Status (1)

Country Link
CN (1) CN103204159B (en)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103587469A (en) * 2013-11-19 2014-02-19 浙江吉利汽车研究院有限公司 Device and method for assisting automobile in turning at night
CN104709279A (en) * 2013-12-11 2015-06-17 凯斯纽荷兰(中国)管理有限公司 Automatic guidance system with stability control for an agricultural vehicle
CN104827966A (en) * 2014-09-09 2015-08-12 北汽福田汽车股份有限公司 Vehicle safety monitoring method, vehicle safety monitoring system and vehicle having same
CN104960466A (en) * 2015-07-22 2015-10-07 福州大学 Vehicle turning safety assisting system
CN105785375A (en) * 2016-03-06 2016-07-20 李志刚 Multifunctional electric energy meter conveying vehicle
CN106314427A (en) * 2015-07-10 2017-01-11 比亚迪股份有限公司 Turning control method and system for four-wheel independently driven automobile
CN107526081A (en) * 2017-08-28 2017-12-29 浙江东车智能科技有限公司 Barrier discriminating conduct during a kind of automobile turning
CN107662609A (en) * 2016-07-29 2018-02-06 长城汽车股份有限公司 Control method, system and the vehicle of turn inside diameter
CN107953884A (en) * 2016-10-14 2018-04-24 现代自动车株式会社 Running control apparatus and method for autonomous vehicle
CN108688651A (en) * 2017-03-31 2018-10-23 福特全球技术公司 Method and system for motor vehicles
CN110053486A (en) * 2019-04-09 2019-07-26 芜湖职业技术学院 Electric vehicle turning method for control speed, system and electric vehicle
CN110537152A (en) * 2017-04-21 2019-12-03 阿尔卑斯阿尔派株式会社 The control method and program of rotary operation device, rotary operation device
CN111717177A (en) * 2020-06-24 2020-09-29 多伦科技股份有限公司 Driving test vehicle safety monitoring device
CN112478036A (en) * 2020-12-08 2021-03-12 横店集团英洛华电气有限公司 Slow-speed vehicle smooth turning control method and turning deceleration module used for same
CN112678066A (en) * 2021-01-15 2021-04-20 浙江吉利控股集团有限公司 Vehicle turning control method and device, vehicle and medium
CN113228128A (en) * 2018-12-28 2021-08-06 日产自动车株式会社 Driving assistance method and driving assistance device
CN113928322A (en) * 2021-11-26 2022-01-14 中国重汽集团济南动力有限公司 EPS-based vehicle low-speed escaping control method and system and vehicle
CN114351612A (en) * 2022-01-10 2022-04-15 安阳职业技术学院 Automobile distance warning protection device for road traffic and implementation method
CN115257914A (en) * 2022-08-02 2022-11-01 浙江极氪智能科技有限公司 Vehicle control method based on auxiliary driving system

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1041319A (en) * 1988-09-25 1990-04-18 李蓓 The anti-sideslip of automobile turning, the method for tumbling
CN1425580A (en) * 2001-12-11 2003-06-25 日产自动车株式会社 Automatic braking system for wheel motor vehicle
CN101236603A (en) * 2008-02-28 2008-08-06 上海交通大学 Vehicle intelligent back vision method
US8200419B2 (en) * 2006-08-15 2012-06-12 Toyota Jidosha Kabushiki Kaisha Braking control system and braking control method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1041319A (en) * 1988-09-25 1990-04-18 李蓓 The anti-sideslip of automobile turning, the method for tumbling
CN1425580A (en) * 2001-12-11 2003-06-25 日产自动车株式会社 Automatic braking system for wheel motor vehicle
US8200419B2 (en) * 2006-08-15 2012-06-12 Toyota Jidosha Kabushiki Kaisha Braking control system and braking control method
CN101236603A (en) * 2008-02-28 2008-08-06 上海交通大学 Vehicle intelligent back vision method

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103587469A (en) * 2013-11-19 2014-02-19 浙江吉利汽车研究院有限公司 Device and method for assisting automobile in turning at night
CN104709279A (en) * 2013-12-11 2015-06-17 凯斯纽荷兰(中国)管理有限公司 Automatic guidance system with stability control for an agricultural vehicle
CN104709279B (en) * 2013-12-11 2019-06-21 凯斯纽荷兰(中国)管理有限公司 The automatic guidance system with stability control for agri-vehicle
CN104827966B (en) * 2014-09-09 2017-08-04 北汽福田汽车股份有限公司 Safety monitoring method, system and the vehicle with it of vehicle
CN104827966A (en) * 2014-09-09 2015-08-12 北汽福田汽车股份有限公司 Vehicle safety monitoring method, vehicle safety monitoring system and vehicle having same
CN106314427A (en) * 2015-07-10 2017-01-11 比亚迪股份有限公司 Turning control method and system for four-wheel independently driven automobile
CN106314427B (en) * 2015-07-10 2019-01-11 比亚迪股份有限公司 The Servo Control method and system of automobile for four motorized wheels
CN104960466A (en) * 2015-07-22 2015-10-07 福州大学 Vehicle turning safety assisting system
CN105785375A (en) * 2016-03-06 2016-07-20 李志刚 Multifunctional electric energy meter conveying vehicle
CN107662609A (en) * 2016-07-29 2018-02-06 长城汽车股份有限公司 Control method, system and the vehicle of turn inside diameter
CN107953884A (en) * 2016-10-14 2018-04-24 现代自动车株式会社 Running control apparatus and method for autonomous vehicle
CN107953884B (en) * 2016-10-14 2021-07-02 现代自动车株式会社 Travel control apparatus and method for autonomous vehicle
CN108688651B (en) * 2017-03-31 2023-05-05 福特全球技术公司 Method and system for a motor vehicle
CN108688651A (en) * 2017-03-31 2018-10-23 福特全球技术公司 Method and system for motor vehicles
CN110537152A (en) * 2017-04-21 2019-12-03 阿尔卑斯阿尔派株式会社 The control method and program of rotary operation device, rotary operation device
CN107526081B (en) * 2017-08-28 2021-07-27 何克鉴 Method for distinguishing obstacles during turning of automobile
CN107526081A (en) * 2017-08-28 2017-12-29 浙江东车智能科技有限公司 Barrier discriminating conduct during a kind of automobile turning
CN113228128A (en) * 2018-12-28 2021-08-06 日产自动车株式会社 Driving assistance method and driving assistance device
CN110053486A (en) * 2019-04-09 2019-07-26 芜湖职业技术学院 Electric vehicle turning method for control speed, system and electric vehicle
CN111717177A (en) * 2020-06-24 2020-09-29 多伦科技股份有限公司 Driving test vehicle safety monitoring device
CN112478036A (en) * 2020-12-08 2021-03-12 横店集团英洛华电气有限公司 Slow-speed vehicle smooth turning control method and turning deceleration module used for same
CN112678066A (en) * 2021-01-15 2021-04-20 浙江吉利控股集团有限公司 Vehicle turning control method and device, vehicle and medium
CN113928322A (en) * 2021-11-26 2022-01-14 中国重汽集团济南动力有限公司 EPS-based vehicle low-speed escaping control method and system and vehicle
CN114351612A (en) * 2022-01-10 2022-04-15 安阳职业技术学院 Automobile distance warning protection device for road traffic and implementation method
CN115257914A (en) * 2022-08-02 2022-11-01 浙江极氪智能科技有限公司 Vehicle control method based on auxiliary driving system

Also Published As

Publication number Publication date
CN103204159B (en) 2016-04-27

Similar Documents

Publication Publication Date Title
CN103204159B (en) A kind of battery-driven car turn assist system and control method
CN109747649B (en) Vehicle control system and method based on driver state
EP2295311B1 (en) Lane changing assistance method for controlling a vehicle driving aid system for lane changing assistance
US8396655B2 (en) Motor vehicle control system
CN107672592B (en) It is a kind of that auxiliary system is kept based on the lane of vehicle active lane change or steering
US10399570B2 (en) Autonomous driving system for a vehicle and method for performing the operation
KR102299825B1 (en) Apparatus for detecting obstacle in vehicle and control method thereof
CN108137054B (en) Replacement of sensor measurement data
US8086406B2 (en) Safety system for a means of transportation and a method relating to the same
CN110386148B (en) Control method and device for automatic driving vehicle and vehicle
US20050273261A1 (en) Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same
CN105246733A (en) Method and device for emergency assistance
US11292479B2 (en) Method and system for assisting a driver in the event of a road departure
CN104002807A (en) Method and system for controlling safe automobile driving
EP3674154B1 (en) Method and apparatus for controlling travel of driving-assisted vehicle
US20150367860A1 (en) method and device for assisting the driver of a two-wheeled vehicle in approaching curves
CN109318894B (en) Vehicle driving assistance system, vehicle driving assistance method, and vehicle
US20160167661A1 (en) Method for operating a driver assistance system of a motor vehicle and driver assistance system for a motor vehicle
CN104228832A (en) Vehicle drive assist system
US20230039125A1 (en) Parking assistance system
US20210269039A1 (en) Driver Assistance System Having an Emergency Stopping Function for a Vehicle, Vehicle Having Said Driver Assistance System, and Method for the Emergency Stopping of a Vehicle
US20220219733A1 (en) Method for ascertaining a safety level of a setpoint function of a vehicle, safety system and vehicle
ES2750202T3 (en) Procedure and device to assist speed change and change of track
JP4835291B2 (en) Vehicle travel control device
CN107499239A (en) A kind of rearview mirror follow-up detector and method

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20190315

Address after: 317000 east gate of Taizhou City, Zhejiang Province

Co-patentee after: Zhejiang Geely Holding Group Co., Ltd.

Patentee after: Zhejiang Geely Automobile Research Institute Co., Ltd.

Address before: 311228 No. 206 Farmer's Second House in Linjiang Industrial Park, Xiaoshan District, Hangzhou City, Zhejiang Province

Co-patentee before: Zhejiang Geely Automobile Research Institute Co., Ltd.

Patentee before: Hangzhou Branch, Zhejiang Geely Automobile Research Institute Co., Ltd.

Co-patentee before: Zhejiang Geely Holding Group Co., Ltd.

TR01 Transfer of patent right