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.
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.