CN103204159B - A kind of battery-driven car turn assist system and control method - Google Patents
A kind of battery-driven car turn assist system and control method Download PDFInfo
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- CN103204159B CN103204159B CN201310009327.0A CN201310009327A CN103204159B CN 103204159 B CN103204159 B CN 103204159B CN 201310009327 A CN201310009327 A CN 201310009327A CN 103204159 B CN103204159 B CN 103204159B
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Abstract
The present invention relates to a kind of battery-driven car turn assist system and control method.Solve because the vehicle that driving skills are unskilled or driver fatigue causes hangs or the problem of generation of collision accident.Turn assist system comprises entire car controller, radar probe, camera and steering wheel angle sensor.Whether control method is: turn to demand to judge to Current vehicle, if there is turning demand, limits turn inside diameter speed; Then detect chaufeur current operation and current turning space and whether meet turning demand, when not meeting, then replace chaufeur to complete turn inside diameter action by entire car controller, and if current turning space cannot meet the operation of turning demand, carry out reporting to the police and stopping.It is external environment condition monitoring, steering-by-wire, Control of Electric Vehicles technology, image real time transfer are combined together that the present invention has advantage, achieve the turning additional function of automobile, alleviate the burden of chaufeur, ensure that vehicle safety, avoid scratch, decrease economic loss.
Description
Technical field
The present invention relates to a kind of automobile control technology, especially relate to one and alleviate driving burden, avoid abrasive battery-driven car turn assist system and control method.
Background technology
The turn assist system of electronlmobil is realized automatically controlling by entire car controller, and the set of system that driver assistance is turned, this system, under the condition ensureing vehicle safety, can also substitute the turning process of chaufeur to vehicle and operate.Current, 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, and the traffic accident caused due to new hand, the event that hangs also get more and more.The employing of turn assist system ensure that chaufeur is in the safety carrying out cornering operation, avoids because the vehicle that driving skills are unskilled or driver fatigue causes hangs or the generation of collision accident.
On Vehicles Collected from Market, existing turn assist system is on the turning system of conventional truck, increase a set of mechanical-hydraulic work-saving device or electric booster, or on the basis of existing work-saving device, increase a set of Vehicle Stability System, ensure that vehicle is in turning process, the planning caused by speed of a motor vehicle problem or the generation of car accident.But existing turn assist system just provides power-assisted and stability for turning, when non-secure operations appears in chaufeur turning, the generation that vehicle is avoided swiping or colliding can not be controlled.
Summary of the invention
The present invention mainly solves because the vehicle that driving skills are unskilled or driver fatigue causes hangs or the problem of generation of collision accident, provides one and alleviates and drive burden, avoid abrasive battery-driven car turn assist system and control method.
This invention also solves general turn assist system only provide power-assisted to turning and ensure cornering stiffnesses, the problem that vehicle is avoided swiping or colliding can not be controlled when chaufeur non-secure operations, provide one and alleviate driving burden, avoid abrasive battery-driven car turn assist 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 turn assist system, comprise entire car controller, radar probe, camera and steering wheel angle sensor, described radar probe, camera, steering wheel angle sensor are connected on entire car controller
Radar probe: the spacing, the relative velocity that detect fore-aft vehicle, and the distance of vehicle two lateral extent roadside or obstacle;
Camera: shooting vehicle-surroundings environment photo, checking road conditions;
Entire car controller: going out according to the data convert of radar probe and camera with Current vehicle is the virtual road environment of the origin of coordinates, is detecting that chaufeur carries out cornering operation, and is judging that substituting chaufeur when being operating as non-security realizes turn inside diameter or parking.
2. a battery-driven car turning auxiliary control method, adopts the turn assist system of claim 1, it is characterized in that: comprise the following steps:
A. by radar probe and camera collection road information, it is the virtual road environment of the origin of coordinates that entire car controller is set up according to the data of radar probe and camera with Current vehicle;
B. whether turn to demand to judge to Current vehicle, if there is turning demand, turn inside diameter speed is limited;
C. whether detection chaufeur current operation and current turning space meet turning demand, then chaufeur is replaced to complete turn inside diameter action by entire car controller when detecting and do not meet, if and current turning space cannot meet the operation of turning demand, carries out reporting to the police and stopping.Entire car controller calculates the space needed for turning according to chaufeur current operation, then compares to see whether meet turning demand with current turning space.If the insufficient space calculated is compared in current turning space, then replace chaufeur to complete turn inside diameter action by entire car controller, entire car controller adjustment operation, namely adjusts angle of turn and the speed of a motor vehicle makes vehicle can carry out safety turning in current turning space.Entire car controller is according to the operation of safety turning calculating space needed for safety turning, if safety turning space or not enough words are compared in current turning space, then judge to turn, 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.
External environment condition monitoring, steering-by-wire, Control of Electric Vehicles technology, image real time transfer are combined together by the present invention, achieve the turning additional function of automobile, in the face of the road of urban congestion and the unskilled of chaufeur skill, by the use of turn assist system, the burden of chaufeur can be alleviated, ensure that vehicle safety, avoid scratch, decrease economic loss.
As a kind of preferred version, to set up Current vehicle in step a be the process of the virtual road environment of the origin of coordinates is:
Spacing, the relative velocity of fore-aft vehicle is detected by radar probe, and the distance of vehicle two lateral extent roadside or obstacle; Take vehicle-surroundings environment photo by camera, identify vehicle and be specially vehicle, pedestrian or obstacle, it is the virtual road environment of the origin of coordinates that entire car controller is set up according to the information of radar probe and camera with Current vehicle;
This radar probe can detect the spacing with fore-aft vehicle, and according in a period of time with the change of the spacing of fore-aft vehicle, calculate the speed of a motor vehicle of the relative Current vehicle of fore-aft vehicle, simultaneously radar probe also detects the distance between vehicle both sides to obstacle.Camera is taken vehicle's surroundings environment, and identifying Current vehicle by image recognition technology is all around vehicle, people or obstacle.Entire car controller, according to these data, just can set up the virtual road environment that take Current vehicle as the origin of coordinates.
As a kind of preferred version, in step b to the determination step process of Vehicular turn demand be:
The chaufeur bearing circle anglec of rotation is gathered by steering wheel sensor, calculate the angle of turn of vehicle, and according to the virtual road environmental information that entire car controller is set up, this angle of turn is judged, if angle of turn is less than setting value, namely revises vehicle heading by a small margin, then be judged to be chaufeur adjustment vehicle heading, if angle of turn is greater than setting value, namely significantly adjust vehicle heading, be then judged to be that vehicle turns to demand.According to turn inside diameter angular dimension, system judges whether vehicle turns, operation larger to steering angle in this programme has been judged to turn to demand, certainly the turning that steering angle is less is also had, the situation being less likely to occur to turn but this situation is turned, as being adjustment vehicle heading, can not affect the judgement in this programme.
As a kind of preferred version, in step b to the process that turn inside diameter speed limits be:
According to the road environment information of radar probe and cam feedback, judge turn inside diameter space, and in conjunction with the information of the speed of a motor vehicle of Current vehicle, vehicle commander, overall width, calculate the safety turning speed of a motor vehicle of safety turning, if the Current vehicle speed of a motor vehicle is greater than the safety turning speed of a motor vehicle, then limit car speed to the safety turning speed of a motor vehicle.According to the virtual road environment that the information by radar probe and camera is set up, vehicle front can be detected and whether have obstacle, if there is obstacle, detect the distance between obstacle, also detect vehicle both sides simultaneously and whether have obstacle, if there is obstacle, detect the distance between obstacle, in addition, can also judge whether road ahead has turning road according to virtual road environment, the space of turn inside diameter just can be judged according to these feedback informations, and then according to the speed of a motor vehicle of Current vehicle, vehicle commander, the information of overall width calculates 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, make the speed of a motor vehicle will to the safety turning speed of a motor vehicle.The turning speed of a motor vehicle is revised, within making car speed be adjusted to safe range, ensures that vehicle realizes vehicle and turns according to demand on the basis of safety, also the impact that vehicle causes is reached minimum below simultaneously.
As a kind of preferred version, turning auxiliary control method also comprises steps d. after implementing turning of vehicle demand, the demand operation of entire car controller to chaufeur is monitored, if in setting-up time section, operator demand operates normally, then turn assist system is released, if in setting-up time, judge that operator demand is operating as non-secure operations, entire car controller replaces the shut-down operation of pilot's line of vision vehicle.The program is in order to confirm that whether driver's operation is normal, and as after turning action completes, chaufeur does not carry out any operation, then system default chaufeur is in abnomal condition, and controls the automatic pulling over observing of vehicle.Further ensure the safety of chaufeur.
As a kind of preferred version, when entire car controller replaces chaufeur control vehicle to carry out turning or stopping, entire car controller locks, and carries out ineffective treatment process to the demand operation of chaufeur.When entire car controller replaces chaufeur to operate, ineffective treatment process is carried out to the demand operation of chaufeur, makes the operation of chaufeur mistake can not disturb the operation of supplementary controlled system.The demand of this chaufeur operates the control comprised bearing circle.
As a kind of preferred version, before each vehicle launch, self-inspection is carried out to turn assist system, process of self-test comprises: to the detection of each element condition of turn assist system, to the detection of the program code in entire car controller, if turn assist system normal operation detected, allow to start turn assist system, if turn assist system operation exception detected, the then startup of automatic no turn ancillary system, and report to the police, turn assist system normal operation detected when vehicle startup next time till.
As a kind of preferred version, turning auxiliary control method also includes hard closing and controls, if entire car controller receives hard closing signal, then stops auxiliary control of turning, closes turn assist system until reopen next time.Vehicle is provided with turning supplemental button, in order to start or to close turn assist system, chaufeur can be decided in its sole discretion and whether will open turn assist system.In the auxiliary operational process of turning, if chaufeur will exit this function, as long as press turning supplemental button, realize chaufeur and manually turn.
Therefore, the present invention has advantage: external environment condition monitoring, steering-by-wire, Control of Electric Vehicles technology, image real time transfer are combined together, achieve the turning additional function of automobile, in the face of the road of urban congestion and the unskilled of chaufeur skill, by the use of turn assist system, the burden of chaufeur can be alleviated, ensure that vehicle safety, avoid scratch, decrease economic loss.
Accompanying drawing explanation
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
Detailed description of the invention
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 turn assist system of the present embodiment, 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 on full-vehicle control, and steering wheel sensor is connected on entire car controller.
This radar probe detects spacing, the relative velocity of fore-aft vehicle, and the distance of vehicle two lateral extent roadside or obstacle; Camera shooting vehicle-surroundings environment photo, checking road conditions; Entire car controller: going out according to the data convert of radar probe and camera with Current vehicle is the virtual road environment of the origin of coordinates, is detecting that chaufeur carries out cornering operation, and is judging that substituting chaufeur when being operating as non-security realizes turn inside diameter or parking.Steering wheel sensor detects square disc spins angle, and calculates 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 turn assist system is:
Step one: before automobile starting, self-inspection is carried out to turn assist system, process of self-test comprises: to the detection of each element condition of turn assist system, to the detection of the program code in entire car controller, if turn assist system normal operation detected, allow to start turn assist system, if turn assist system operation exception detected, the then startup of automatic no turn ancillary system, and report to the police, until detect that turn assist system normal operation just starts turn assist system during vehicle startup next time.
Step 2: after turn assist system starts, this radar probe detects spacing, the relative velocity of fore-aft vehicle, and the distance of vehicle two lateral extent roadside or obstacle; Take vehicle-surroundings environment photo by camera, identify vehicle and be specially vehicle, pedestrian or obstacle, it is the virtual road environment of the origin of coordinates that entire car controller is set up according to the information of radar probe and camera with Current vehicle.
Step 3: the demand operation of turn assist system Real-Time Monitoring chaufeur in vehicle travel process, namely whether chaufeur turns, the real-time detection side of this steering wheel angle sensor is to disc spins angle, the turning threshold value of the value that entire car controller detects according to steering wheel angle sensor and setting compares, if angle of turn is less than setting value, namely revise vehicle heading by a small margin, be judged to be chaufeur adjustment vehicle heading, turn assist system is failure to actuate; If angle of turn is greater than setting value, namely significantly adjust vehicle heading, be judged to be that vehicle turns 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 cam feedback, obtain Current vehicle turning space, and in conjunction with the information of the speed of a motor vehicle of Current vehicle, 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 is less than safety turning vehicle velocity V, then enters step 5; If current vehicle speed is greater than safety turning vehicle velocity V, then control the speed of a motor vehicle, restricted speed, to safety turning vehicle velocity V or following, then enters step 5.
Step 5: according to the speed of a motor vehicle of Current vehicle, calculate current turning space and whether meet the operation of turning demand, namely according to Current vehicle turning space, speed meter calculates required angle of turn, judge whether this angle of turn is feasible, if this angle of turn is infeasible unsafe, then judge can not to turn in current turning space under current vehicle speed, now entire car controller replaces chaufeur to control vehicle, carry out reporting to the police and controlling vehicle parking, entire car controller locks control in this process, namely ineffective treatment process is carried out to the demand operation of chaufeur.If calculate current turning space to meet the operation of turning demand, then enter step 6.
Step 6: calculate whether meet turning demand according to the current cornering operation of chaufeur, current turning space and current vehicle speed, if chaufeur current operation meets turning demand, can safety turning, then complete turning by vehicle according to the operational requirements of chaufeur; If chaufeur current operation can not meet turning demand, then by entire car controller correction chaufeur angle of turn, replace chaufeur to complete turn inside diameter, entire car controller locks control in this process, namely carries out ineffective treatment process to the demand operation of chaufeur.
Step 7: after implementing turning of vehicle demand, the demand operation of entire car controller to chaufeur is monitored, if in setting-up time section, operator demand operates normally, then turn assist system exits, if in setting-up time, judge that operator demand is operating as operation improper, entire car controller replaces the shut-down operation of pilot's line of vision vehicle.Here the abnormal operation of chaufeur is that chaufeur carries out again cornering operation after turning, but still can not turn safely, then repeat the operation of above-mentioned steps three to six, now judge that operator demand operates improper, vehicle control unit controls vehicle pulling over observing, flurried due to faulty operation before of chaufeur can be prevented like this, cause the problem of following a series of faulty operation.In addition after turning action completes, chaufeur does not carry out any operation, then system also judges that chaufeur is in abnomal condition, and controls the automatic pulling over observing of vehicle.
Also there is hard closing and control in turn assist system, vehicle is also provided with the button controlling turn assist system opening and closing, and this button is connected on entire car controller.In the process that turn assist system is run, if chaufeur presses this button, entire car controller receives signal, then make turn assist system exit.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Although more employ the terms such as radar probe, camera, entire car controller, steering wheel angle sensor herein, do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Claims (8)
1. a battery-driven car turning auxiliary control method, adopt turn assist system, system comprises entire car controller, radar probe (1), camera (2) and steering wheel angle sensor (4), described radar probe, camera, steering wheel angle sensor are connected on entire car controller (3)
Radar probe: the spacing, the relative velocity that detect fore-aft vehicle, and the distance of vehicle two lateral extent roadside or obstacle;
Camera: shooting vehicle-surroundings environment photo, checking road conditions;
Entire car controller: going out according to the data convert of radar probe and camera with Current vehicle is the virtual road environment of the origin of coordinates, is detecting that chaufeur carries out cornering operation, and is judging that substituting chaufeur when being operating as non-security realizes turn inside diameter or parking;
It is characterized in that: comprise the following steps:
A. by radar probe and camera collection road information, it is the virtual road environment of the origin of coordinates that entire car controller is set up according to the data of radar probe and camera with Current vehicle;
B. whether turn to demand to judge to Current vehicle, if there is turning demand, turn inside diameter speed is limited;
If c. the insufficient space calculated is compared in current turning space, then chaufeur is replaced to complete turn inside diameter action by entire car controller, entire car controller adjustment operation; Entire car controller is according to the operation of safety turning calculating space needed for safety turning, if safety turning space or not enough words are compared in current turning space, then judge to turn, then entire car controller carries out warning reminding, controls vehicle parking simultaneously.
2. a kind of battery-driven car turning auxiliary control method according to claim 1, to it is characterized in that setting up in step a Current vehicle be the process of the virtual road environment of the origin of coordinates is:
Spacing, the relative velocity of fore-aft vehicle is detected by radar probe, and the distance of vehicle two lateral extent roadside or obstacle; Take vehicle-surroundings environment photo by camera, identify vehicle and be specially vehicle, pedestrian or obstacle, it is the virtual road environment of the origin of coordinates that entire car controller is set up according to the information of radar probe and camera with Current vehicle.
3. a kind of battery-driven car turning auxiliary control method according to claim 1, it is characterized in that in step b to the determination step process of Vehicular turn demand be:
The chaufeur bearing circle anglec of rotation is gathered by steering wheel sensor, calculate the angle of turn of vehicle, and according to the virtual road environmental information that entire car controller is set up, this angle of turn is judged, if angle of turn is less than setting value, namely revises vehicle heading by a small margin, then be judged to be chaufeur adjustment vehicle heading, if angle of turn is greater than setting value, namely significantly adjust vehicle heading, be then judged to be that vehicle turns to demand.
4. a kind of battery-driven car turning auxiliary control method according to claim 1, it is characterized in that in step b to the process that turn inside diameter speed limits be:
According to the road environment information of radar probe and cam feedback, judge turn inside diameter space, and in conjunction with the information of the speed of a motor vehicle of Current vehicle, vehicle commander, overall width, calculate the safety turning speed of a motor vehicle of safety turning, if the Current vehicle speed of a motor vehicle is greater than the safety turning speed of a motor vehicle, then limit car speed to the safety turning speed of a motor vehicle.
5. a kind of battery-driven car turning auxiliary control method according to claim 1, it is characterized in that also comprising steps d. after implementing turning of vehicle demand, the demand operation of entire car controller to chaufeur is monitored, if in setting-up time section, operator demand operates normally, then turn assist system exits, if in setting-up time, judge that operator demand is operating as non-secure operations, entire car controller replaces chaufeur to realize the shut-down operation of vehicle.
6. a kind of battery-driven car turning auxiliary control method according to claim 1 or 5, it is characterized in that entire car controller replace chaufeur control vehicle carry out turning or stopping time, entire car controller locks, and carries out ineffective treatment process to the demand operation of chaufeur.
7. a kind of battery-driven car turning auxiliary control method according to any one of claim 1 to 5, it is characterized in that before each vehicle launch, self-inspection is carried out to turn assist system, process of self-test comprises: to the detection of each element condition of turn assist system, to the detection of the program code in entire car controller, if turn assist system normal operation detected, allow to start turn assist system, if turn assist system operation exception detected, the then startup of automatic no turn ancillary system, and report to the police, turn assist system normal operation detected when vehicle startup next time till.
8. a kind of battery-driven car turning auxiliary control method according to any one of claim 1 to 5, it is characterized in that also including hard closing controls, if entire car controller receives hard closing signal, then stop auxiliary control of turning, close turn assist system until reopen next time.
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| CN201310009327.0A CN103204159B (en) | 2013-01-10 | 2013-01-10 | A kind of battery-driven car turn assist system and control method |
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| 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 |
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| 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 |
| CN112478036B (en) * | 2020-12-08 | 2022-05-24 | 浙江联宜电机有限公司 | Slow-speed vehicle smooth turning control method and turning deceleration module used for same |
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