CN102642537A - Controlling method for automatic queuing and running of vehicles - Google Patents
Controlling method for automatic queuing and running of vehicles Download PDFInfo
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- CN102642537A CN102642537A CN2012101375886A CN201210137588A CN102642537A CN 102642537 A CN102642537 A CN 102642537A CN 2012101375886 A CN2012101375886 A CN 2012101375886A CN 201210137588 A CN201210137588 A CN 201210137588A CN 102642537 A CN102642537 A CN 102642537A
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Abstract
The invention discloses a controlling method for automatic queuing and running of vehicles. A device for automatic queuing and running of vehicles is provided and a controlling mechanism of the device collects corresponding data through various sensors and achieves control of parts of vehicles such as power parts, braking parts and the like under the control of the controlling method for automatic queuing and running of vehicles, so that the automatic queuing and running of vehicles are controlled. According to the controlling method, under a condition of traffic jam, vehicles can queue, run and follow behind other cars, physical and spiritual fatigue of drivers is reduced, and the drivers feel safe and comfortable.
Description
Technical field
The present invention relates to the control method that a kind of vehicle is lined up and gone automatically.
Background technology
Along with the significantly raising of developing of automobile industry and people's living standard, automobile has got into vast family.Yet, because the increase of total vehicle has thereupon also brought very big traffic pressure.
People drive on the way, and what least hope was seen is exactly to block up, stand in a long queue, and much more particularly such situation sees at urban highway.Whenever running into these situation, all be that chaufeur is anxious the time.The car that has changed down the back is urged, and the car of side also can be seized every opportunity and do not come; Control a bad foot throttle and go down to have changed up, might just run into the fwd car once again.If the situation that when going up a slope, runs into traffic congestion queuing trouble especially just, each several parts such as throttle, service brake, power-transfer clutch, parking brake cooperate bad, and the front truck that not only knocks into the back easily also might stop working, and What is more slips after the meeting and run into the car of back.So drive, not only the pin of chaufeur can be very tired, and the spirit of chaufeur also can be felt tired.
Summary of the invention
The purpose of this invention is to provide the control method that a kind of vehicle is lined up and gone automatically.
The present invention is achieved in that
One, the device that a vehicle is lined up and gone automatically is set
Comprise rang sensor, angular transducer, acceleration pick-up, speed sensor, braking force sensor, clutch sensor, propulsive effort sensor, throttle pressure sensor, brake pressure sensor, clutching pressure sensor, control mechanism, electricity-controlling throttle, automatically controlled brake, electric control clutch, control button and alarm module;
(1) rang sensor is connected with control mechanism, is used to measure the distance of controlled vehicle and surrounding vehicles, obstacle; Angular transducer is connected with control mechanism, is used to measure the degree of dip of Be Controlled vehicle, to judge whether in the section of going up a slope; Acceleration pick-up is connected with control mechanism, is used to measure the instantaneous acceleration of Be Controlled vehicle; Speed sensor is connected with control mechanism, is used to measure the real-time speed of Be Controlled vehicle; The braking force sensor is connected with control mechanism, is used to measure controlled vehicle when stopping-down, the braking force that brake is given; The propulsive effort sensor is connected with control mechanism, is used to measure the propulsive effort that controlled vehicle motor provides; Clutch sensor is connected with control mechanism, is used to measure the state of controlled vehicle clutch;
(2) the throttle pressure sensor is connected with control mechanism, is used to respond to the action of the pin step on the accelerator of chaufeur; Brake pressure sensor is connected with control mechanism, is used to respond to the action that the pin of chaufeur touches on the brake; The clutching pressure sensor is connected with control mechanism, and the pin that is used to respond to chaufeur is stepped on the action of clutch;
(3) automatically controlled brake is connected with control mechanism, is used for the instruction according to control mechanism, gives the braking force of the enough dynamics of Be Controlled vehicle; Electricity-controlling throttle is connected with control mechanism, is used for the instruction according to control mechanism, gives the propulsive effort of the enough dynamics of Be Controlled vehicle; Electric control clutch is connected with control mechanism, is used for the instruction according to control mechanism, cooperates electricity-controlling throttle and automatically controlled brake, realizes advancing automatically and stopping of Be Controlled vehicle.Control mechanism receives the data-signal of each sensor, and the correlation parameter of these data and Be Controlled vehicle is done corresponding operation, and control vehicle is advanced automatically and stopped then, and the pilot steering that recovers vehicle;
(4) the control button is connected with control mechanism, is used for starting, stops queuing automatically and go, and set correlation parameter;
(5) alarm module is connected with control mechanism, is used to provide the distance of warning information and controlled vehicle and surrounding vehicles, and sets correlation parameter;
Two, utilize the said apparatus control method step that automatic queuing is gone to vehicle following:
The 1st step: chaufeur starts the mode of operation that vehicle is lined up and gone automatically, and at this moment chaufeur just can unclamp step throttle, brake and clutch;
The 2nd step: start and apparatus for initializing;
The 3rd step: control mechanism is controlled automatically controlled brake steadily stops controlled vehicle;
The 4th step: whether rang sensor is judged the distance of controlled vehicle and surrounding vehicles or obstacle, be the safety distance that can exercise, if greater than safety distance, gets into next step, otherwise gets back to for the 3rd step;
The 5th step: the attitude of judging controlled vehicle by angular transducer: upward slope, level road, descending.If be in upper and lower slope, get into next step; If be in level road, jumped to for the 15th step;
The 6th step: judge the critical retardation power F0 of controlled vehicle under dead ship condition by the braking force sensor, and monitor the braking force FZ that controlled vehicle receives in real time; If, then get into next step, otherwise jumped to for the 12nd step going up a slope;
The 7th step: the control electricity-controlling throttle cooperates oil supply with electric control clutch, and judges the propulsive effort FQ that controlled vehicle motor provides by the propulsive effort sensor;
The 8th step:, compare braking force FZ and propulsive effort FQ according to the mechanical balance formula;
The 9th step: when propulsive effort FQ equals critical retardation power F0, continue the control electricity-controlling throttle and cooperates,, and control automatically controlled brake and slowly decontrol, let the slowly smooth starting of controlled vehicle progressively to controlled vehicle raising propulsive effort FQ with electric control clutch;
The 10th step: after the starting, according to the data of speed sensor, the control electricity-controlling throttle remains on low speed pulsation-free motoring condition by the speed of Be Controlled vehicle;
The 11st step: the distance of the controlled vehicle of rang sensor real-time judge and surrounding vehicles or obstacle, if greater than safety distance, get back to a step, continue to go, otherwise redirect got back to for the 3rd step;
The 12nd step:, control automatically controlled brake and slowly decontrol, until controlled vehicle launch when certain controlled vehicle is in descending;
The 13rd step:, control automatically controlled brake and let the speed of Be Controlled vehicle remain on the state that pulsation-free goes according to the data of speed sensor;
The 14th step: the distance of the controlled vehicle of rang sensor real-time judge and surrounding vehicles or obstacle, if greater than safety distance, get back to a step, continue to go, otherwise redirect got back to for the 3rd step;
The 15th step:, control automatically controlled brake and decontrol when controlled vehicle is in level road;
The 16th step: if acceleration pick-up is measured the trend that controlled vehicle has motion, control automatically controlled brake controlled vehicle is stopped, get into next step, otherwise got into for the 18th step;
The 17th step: if acceleration pick-up is measured controlled vehicle movement proal trend is arranged, redirect got back to for the 12nd step; If acceleration pick-up is measured controlled vehicle movement the trend of car of slipping is backward arranged, redirect got back to for the 6th step;
The 18th step: the control electricity-controlling throttle cooperates oil supply with electric control clutch, improves propulsive effort FQ progressively for controlled vehicle, lets controlled vehicle begin slowly steadily to exercise;
The 19th step: according to the data of speed sensor, the control electricity-controlling throttle remains on the state that pulsation-free goes by the speed of Be Controlled vehicle;
The 20th step: rang sensor is judged the distance of controlled vehicle and surrounding vehicles or obstacle, gets back to a step, continue to go, otherwise redirect gets back to for the 3rd step.
In above control process, if control mechanism is received the signal from throttle pressure sensor, brake pressure sensor, clutching pressure sensor.When both control mechanism is sensed the action that the action of the pin step on the accelerator of chaufeur, action that pin touches on the brake or pin step on clutch, perhaps press when stopping button, stop the state that queuing is automatically gone at once.
At the motoring condition of lining up automatically, chaufeur can be adjusted the travel direction of controlled vehicle with bearing circle.
The above-mentioned vehicle mobile devices of lining up automatically have the optimization technique scheme: increase the wheel steering sensor, the automatic steering device.The wheel steering sensor is connected with control mechanism, is used to sense artificial handling maneuver.The automatic steering device is connected with control mechanism, is used to realize the automatic steering of controlled vehicle.
The control method that above-mentioned vehicle is lined up and gone automatically has the optimization technique scheme: in the 10-11 step in the such scheme, in the 13-14 step, in the 19-20 step, be subdivided into following a few step:
A1 step: the distance of the controlled vehicle of rang sensor real-time judge and surrounding vehicles or obstacle, if dead ahead distance, left front distance, right front distance all greater than safety distance the time, the continuation previous status is gone;
A2 step: if dead ahead distance and left front distance, get into A3 and go on foot less than safety distance the time greater than safety distance and right front distance; If less than safety distance the time, the A4 step is got back in redirect to dead ahead distance and left front distance greater than safety distance and right front distance; If dead ahead distance is greater than safety distance, and the left front distance is with the right front distance less than safety distance the time, and redirect is got back to former main program the 3rd and gone on foot; If dead ahead distance is less than safety distance the time, former the 3rd step of main program is got back in redirect;
A3 step: send alarm signal to chaufeur, and the control bearing circle turns to certain angle automatically to the left, and keep former speed, and jump to the A5 step;
A4 step: send alarm signal to chaufeur, and the control bearing circle turns to certain angle automatically to the right, and keep former speed, and jump to the A5 step;
A5 step: when dead ahead distance, left front distance, right front distance greater than safety distance the time, control bearing circle revolution automatically keeps former speed to same equal angles, and the A1 step is got back in redirect; Otherwise the A2 step is got back in redirect.
In this prioritization scheme; The action that the manual work of control mechanism preferential answering turns to; Both the wheel steering sensor sensing was different with the automatic steering direction or during greater than the automatic steering setting value to artificial handling maneuver, stopped automatic steering, adjusted direction according to artificial handling maneuver.
The present invention can let the vehicle can be under the traffic of blocking up, and queuing is gone with car automatically, alleviates the fatigue on the body & mind of chaufeur, let drive safer, comfortable.
Description of drawings
The rang sensor layout of Fig. 1 embodiment of the invention.
The apparatus structure block diagram of Fig. 2 embodiment of the invention.
The control main flow chart of Fig. 3 embodiment of the invention.
The automatic ride control diagram of circuit of Fig. 4 embodiment of the invention.
The controlled vehicle craspedodrome scheme drawing of Fig. 5 embodiment of the invention.
The controlled turn inside diameter scheme drawing of Fig. 6 embodiment of the invention.
Mark among the figure: 1, headstock rang sensor; 2, the left front rang sensor of headstock; 3, the right front rang sensor of headstock.
The specific embodiment
Embodiment:
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
The technical scheme of the device of present embodiment such as Fig. 2: comprise rang sensor, angular transducer, acceleration pick-up, speed sensor, braking force sensor, clutch sensor, propulsive effort sensor, throttle pressure sensor, brake pressure sensor, clutching pressure sensor, wheel steering sensor, control mechanism, electricity-controlling throttle, automatically controlled brake, electric control clutch, automatic steering device and control button.
Rang sensor is connected with control mechanism, is used to measure the distance of controlled vehicle and surrounding vehicles, obstacle; Angular transducer is connected with control mechanism, is used to measure the degree of dip of Be Controlled vehicle, to judge whether in the section of going up a slope; Acceleration pick-up is connected with control mechanism, is used to measure the instantaneous acceleration of Be Controlled vehicle; Speed sensor is connected with control mechanism, is used to measure the real-time speed of Be Controlled vehicle; The braking force sensor is connected with control mechanism, is used to measure controlled vehicle when stopping-down, the braking force that brake is given; The propulsive effort sensor is connected with control mechanism, is used to measure the propulsive effort that controlled vehicle motor provides; Clutch sensor is connected with control mechanism, is used to measure the state of controlled vehicle clutch.
Like Fig. 1, headstock rang sensor 1, the left front rang sensor 2 of headstock, the right front rang sensor 3 of headstock are installed at controlled vehicle.
The throttle pressure sensor is connected with control mechanism, is used to respond to the action of the pin step on the accelerator of chaufeur; Brake pressure sensor is connected with control mechanism, is used to respond to the action that the pin of chaufeur touches on the brake; The clutching pressure sensor is connected with control mechanism, and the pin that is used to respond to chaufeur is stepped on the action of clutch.The wheel steering sensor is connected with control mechanism, is used to sense artificial handling maneuver.
Automatically controlled brake is connected with control mechanism, is used for the instruction according to control mechanism, gives the braking force of the enough dynamics of Be Controlled vehicle; Electricity-controlling throttle is connected with control mechanism, is used for the instruction according to control mechanism, gives the propulsive effort of the enough dynamics of Be Controlled vehicle; Electric control clutch is connected with control mechanism, is used for the instruction according to control mechanism, cooperates electricity-controlling throttle and automatically controlled brake, realizes advancing automatically and stopping of Be Controlled vehicle; The automatic steering device is connected with control mechanism, is used to realize the automatic steering of controlled vehicle.Control mechanism receives the data-signal of each sensor, and the correlation parameter of these data and Be Controlled vehicle is done corresponding operation, and control vehicle is advanced automatically and stopped then, and the pilot steering that recovers vehicle.
The control button is connected with control mechanism, is used for starting, stops queuing automatically and go, and set correlation parameter.Present embodiment uses the safety distance press the controlled vehicle of key assignments and dead ahead vehicle, obstacle for Sd=1 rice; Controlled vehicle and left front vehicle, obstacle apart from Sl=1.5 rice; Controlled vehicle and right front vehicle, obstacle apart from Sr=1.5 rice.
The technical scheme master control diagram of circuit of the apparatus control method of present embodiment, like Fig. 3, step is following:
The 1st step: chaufeur starts the mode of operation that vehicle is lined up and gone automatically, and at this moment chaufeur just can unclamp step throttle, brake and clutch;
The 2nd step: start and apparatus for initializing;
The 3rd step: control mechanism is controlled automatically controlled brake steadily stops controlled vehicle;
The 4th step: headstock rang sensor 1 record controlled vehicle and dead ahead vehicle, obstacle apart from d＞1 meter; The left front rang sensor 2 of headstock record controlled vehicle and left front vehicle, obstacle apart from l＞1.5 meter; The right front rang sensor 3 of headstock record controlled vehicle and right front vehicle, obstacle apart from r＞1.5 meter.Get into next step, otherwise got back to for the 3rd step;
The 5th step: the attitude of judging controlled vehicle by angular transducer: upward slope, level road, descending.If be in upper and lower slope, get into next step; If be in level road, jumped to for the 15th step;
The 6th step: judge the critical retardation power F0 of controlled vehicle under dead ship condition by the braking force sensor, and monitor the braking force FZ that controlled vehicle receives in real time; If, then get into next step, otherwise jumped to for the 12nd step going up a slope;
The 7th step: the control electricity-controlling throttle cooperates oil supply with electric control clutch, and judges the propulsive effort FQ that controlled vehicle motor provides by the propulsive effort sensor;
The 8th step:, compare braking force FZ and propulsive effort FQ according to the mechanical balance formula;
The 9th step: when propulsive effort FQ equals critical retardation power F0, continue the control electricity-controlling throttle and cooperates,, and control automatically controlled brake and slowly decontrol, let the slowly smooth starting of controlled vehicle progressively to controlled vehicle raising propulsive effort FQ with electric control clutch;
The 10th step: after the starting, according to the data of speed sensor, the control electricity-controlling throttle remains on low speed pulsation-free motoring condition by the speed of Be Controlled vehicle;
The 11st step: the distance of the controlled vehicle of rang sensor real-time judge and surrounding vehicles or obstacle, if greater than safety distance, get back to a step, continue to go, otherwise redirect got back to for the 3rd step;
The 12nd step:, control automatically controlled brake and slowly decontrol, until controlled vehicle launch when certain controlled vehicle is in descending;
The 13rd step:, control automatically controlled brake and let the speed of Be Controlled vehicle remain on the state that pulsation-free goes according to the data of speed sensor;
The 14th step: the distance of the controlled vehicle of rang sensor real-time judge and surrounding vehicles or obstacle, if greater than safety distance, get back to a step, continue to go, otherwise redirect got back to for the 3rd step;
The 15th step:, control automatically controlled brake and decontrol when controlled vehicle is in level road;
The 16th step: if acceleration pick-up is measured the trend that controlled vehicle has motion, control automatically controlled brake controlled vehicle is stopped, get into next step, otherwise got into for the 18th step;
The 17th step: if acceleration pick-up is measured controlled vehicle movement proal trend is arranged, redirect got back to for the 12nd step; If acceleration pick-up is measured controlled vehicle movement the trend of car of slipping is backward arranged, redirect got back to for the 6th step;
The 18th step: the control electricity-controlling throttle cooperates oil supply with electric control clutch, improves propulsive effort FQ progressively for controlled vehicle, lets controlled vehicle begin slowly steadily to exercise;
The 19th step: according to the data of speed sensor, the control electricity-controlling throttle remains on the state that pulsation-free goes by the speed of Be Controlled vehicle;
The 20th step: rang sensor is judged the distance of controlled vehicle and surrounding vehicles or obstacle, gets back to a step, continue to go, otherwise redirect gets back to for the 3rd step.
For the step of the 10-11 in the above controlling schemes, 13-14 step, 19-20 step, the S1 step in the difference corresponding diagram 3 in the frame of broken lines, S2 step, S3 step.Be subdivided into following a few step:
A1 step: the distance of the controlled vehicle of rang sensor real-time judge and surrounding vehicles or obstacle, if when d＞1 meter, l＞1.5 meter, r＞1.5 meter, the continuation previous status is gone;
A2 step:, get into the A3 step if when d＞1 meter, l＞1.5 meter and r＜1.5 meter; If when d＞1 meter, r＞1.5 meter and l＜1.5 meter, the A4 step is got back in redirect; If d＞1 meter, and when r＜1.5 meter and l＜1.5 meter, former the 3rd step of main program is got back in redirect; If during d＞1 meter, former the 3rd step of main program is got back in redirect;
The A3 step: send alarm signal to chaufeur, and control bearing circle and change 45 ° automatically to the left, and keep former speed, and jump to the A5 step;
The A4 step: send alarm signal to chaufeur, and control bearing circle and change 45 ° automatically to the right, and keep former speed, and jump to the A5 step;
A5 step: when d＞1 meter, l＞1.5 meter, r＞1.5 meter, 45 ° of the revolutions automatically of control bearing circle keep former speed, and the A1 step are got back in redirect; Otherwise the A2 step is got back in redirect.
In above The whole control flow process, if control mechanism is received the signal from throttle pressure sensor, brake pressure sensor, clutching pressure sensor.When both control mechanism is sensed the action that the action of the pin step on the accelerator of chaufeur, action that pin touches on the brake or pin step on clutch, perhaps press when stopping button, stop the state that queuing is automatically gone at once.
When device control bearing circle automatic steering; If control mechanism receives the signal of wheel steering sensor; Different with the automatic steering direction or the artificial steering angle of both artificial steering direction is during greater than the automatic steering setting value; Stop automatic steering, preferential corresponding artificial handling maneuver adjustment direction.
Claims (4)
1. the vehicle queuing control method of going automatically is characterized in that:
One, the device that a vehicle is lined up and gone automatically is set
Comprise rang sensor, angular transducer, acceleration pick-up, speed sensor, braking force sensor, clutch sensor, propulsive effort sensor, throttle pressure sensor, brake pressure sensor, clutching pressure sensor, control mechanism, electricity-controlling throttle, automatically controlled brake, electric control clutch, control button and alarm module;
(1) rang sensor is connected with control mechanism, is used to measure the distance of controlled vehicle and surrounding vehicles, obstacle; Angular transducer is connected with control mechanism, is used to measure the degree of dip of Be Controlled vehicle, to judge whether in the section of going up a slope; Acceleration pick-up is connected with control mechanism, is used to measure the instantaneous acceleration of Be Controlled vehicle; Speed sensor is connected with control mechanism, is used to measure the real-time speed of Be Controlled vehicle; The braking force sensor is connected with control mechanism, is used to measure controlled vehicle when stopping-down, the braking force that brake is given; The propulsive effort sensor is connected with control mechanism, is used to measure the propulsive effort that controlled vehicle motor provides; Clutch sensor is connected with control mechanism, is used to measure the state of controlled vehicle clutch;
(2) the throttle pressure sensor is connected with control mechanism, is used to respond to the action of the pin step on the accelerator of chaufeur; Brake pressure sensor is connected with control mechanism, is used to respond to the action that the pin of chaufeur touches on the brake; The clutching pressure sensor is connected with control mechanism, and the pin that is used to respond to chaufeur is stepped on the action of clutch;
(3) automatically controlled brake is connected with control mechanism, is used for the instruction according to control mechanism, gives the braking force of the enough dynamics of Be Controlled vehicle; Electricity-controlling throttle is connected with control mechanism, is used for the instruction according to control mechanism, gives the propulsive effort of the enough dynamics of Be Controlled vehicle; Electric control clutch is connected with control mechanism, is used for the instruction according to control mechanism, cooperates electricity-controlling throttle and automatically controlled brake, realizes advancing automatically and stopping of Be Controlled vehicle.Control mechanism receives the data-signal of each sensor, and the correlation parameter of these data and Be Controlled vehicle is done corresponding operation, and control vehicle is advanced automatically and stopped then, and the pilot steering that recovers vehicle;
(4) the control button is connected with control mechanism, is used for starting, stops queuing automatically and go, and set correlation parameter;
(5) alarm module is connected with control mechanism, is used to provide the distance of warning information and controlled vehicle and surrounding vehicles, and sets correlation parameter;
Two, utilize the said apparatus control method step that automatic queuing is gone to vehicle following:
The 1st step: chaufeur starts the mode of operation that vehicle is lined up and gone automatically, and at this moment chaufeur just can unclamp step throttle, brake and clutch;
The 2nd step: start and apparatus for initializing;
The 3rd step: control mechanism is controlled automatically controlled brake steadily stops controlled vehicle;
The 4th step: whether rang sensor is judged the distance of controlled vehicle and surrounding vehicles or obstacle, be the safety distance that can exercise, if greater than safety distance, gets into next step, otherwise gets back to for the 3rd step;
The 5th step: the attitude of judging controlled vehicle by angular transducer: upward slope, level road, descending.If be in upper and lower slope, get into next step; If be in level road, jumped to for the 15th step;
The 6th step: judge the critical retardation power F0 of controlled vehicle under dead ship condition by the braking force sensor, and monitor the braking force FZ that controlled vehicle receives in real time; If, then get into next step, otherwise jumped to for the 12nd step going up a slope;
The 7th step: the control electricity-controlling throttle cooperates oil supply with electric control clutch, and judges the propulsive effort FQ that controlled vehicle motor provides by the propulsive effort sensor;
The 8th step:, compare braking force FZ and propulsive effort FQ according to the mechanical balance formula;
The 9th step: when propulsive effort FQ equals critical retardation power F0, continue the control electricity-controlling throttle and cooperates,, and control automatically controlled brake and slowly decontrol, let the slowly smooth starting of controlled vehicle progressively to controlled vehicle raising propulsive effort FQ with electric control clutch;
The 10th step: after the starting, according to the data of speed sensor, the control electricity-controlling throttle remains on low speed pulsation-free motoring condition by the speed of Be Controlled vehicle;
The 11st step: the distance of the controlled vehicle of rang sensor real-time judge and surrounding vehicles or obstacle, if greater than safety distance, get back to a step, continue to go, otherwise redirect got back to for the 3rd step;
The 12nd step:, control automatically controlled brake and slowly decontrol, until controlled vehicle launch when certain controlled vehicle is in descending;
The 13rd step:, control automatically controlled brake and let the speed of Be Controlled vehicle remain on the state that pulsation-free goes according to the data of speed sensor;
The 14th step: the distance of the controlled vehicle of rang sensor real-time judge and surrounding vehicles or obstacle, if greater than safety distance, get back to a step, continue to go, otherwise redirect got back to for the 3rd step;
The 15th step:, control automatically controlled brake and decontrol when controlled vehicle is in level road;
The 16th step: if acceleration pick-up is measured the trend that controlled vehicle has motion, control automatically controlled brake controlled vehicle is stopped, get into next step, otherwise got into for the 18th step;
The 17th step: if acceleration pick-up is measured controlled vehicle movement proal trend is arranged, redirect got back to for the 12nd step; If acceleration pick-up is measured controlled vehicle movement the trend of car of slipping is backward arranged, redirect got back to for the 6th step;
The 18th step: the control electricity-controlling throttle cooperates oil supply with electric control clutch, improves propulsive effort FQ progressively for controlled vehicle, lets controlled vehicle begin slowly steadily to exercise;
The 19th step: according to the data of speed sensor, the control electricity-controlling throttle remains on the state that pulsation-free goes by the speed of Be Controlled vehicle;
The 20th step: rang sensor is judged the distance of controlled vehicle and surrounding vehicles or obstacle, gets back to a step, continue to go, otherwise redirect gets back to for the 3rd step.
2. the control method that vehicle according to claim 1 is lined up and gone automatically is characterized in that in step (two) control process, if control mechanism is received the signal from throttle pressure sensor, brake pressure sensor, clutching pressure sensor; When both control mechanism is sensed the action that the action of the pin step on the accelerator of chaufeur, action that pin touches on the brake or pin step on clutch, perhaps press when stopping button, stop the state that queuing is automatically gone at once; At the motoring condition of lining up automatically, chaufeur can be adjusted the travel direction of controlled vehicle with bearing circle.
3. the control method that vehicle according to claim 1 is lined up and gone automatically is characterized in that the 10-11 step in the step (two), in the 13-14 step, in the 19-20 step, is subdivided into following a few step:
A1 step: the distance of the controlled vehicle of rang sensor real-time judge and surrounding vehicles or obstacle, if dead ahead distance, left front distance, right front distance all greater than safety distance the time, the continuation previous status is gone;
A2 step: if dead ahead distance and left front distance, get into A3 and go on foot less than safety distance the time greater than safety distance and right front distance; If less than safety distance the time, the A4 step is got back in redirect to dead ahead distance and left front distance greater than safety distance and right front distance; If dead ahead distance is greater than safety distance, and the left front distance is with the right front distance less than safety distance the time, and redirect is got back to former main program the 3rd and gone on foot; If dead ahead distance is less than safety distance the time, former the 3rd step of main program is got back in redirect;
A3 step: send alarm signal to chaufeur, and the control bearing circle turns to certain angle automatically to the left, and keep former speed, and jump to the A5 step;
A4 step: send alarm signal to chaufeur, and the control bearing circle turns to certain angle automatically to the right, and keep former speed, and jump to the A5 step;
A5 step: when dead ahead distance, left front distance, right front distance greater than safety distance the time, control bearing circle revolution automatically keeps former speed to same equal angles, and the A1 step is got back in redirect; Otherwise the A2 step is got back in redirect.
4. the control method that vehicle according to claim 1 is lined up and gone automatically; It is characterized in that the action that the manual work of control mechanism preferential answering turns in the step (two); Both the wheel steering sensor sensing was different with the automatic steering direction or during greater than the automatic steering setting value to artificial handling maneuver; Stop automatic steering, according to artificial handling maneuver adjustment direction.
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| CN104880978A (en) * | 2014-02-28 | 2015-09-02 | 福特全球技术公司 | Semi-autonomous Mode Control |
| WO2016065996A1 (en) * | 2014-10-30 | 2016-05-06 | 奇瑞汽车股份有限公司 | Vehicle safety start-stop system and method |
| CN107330921A (en) * | 2017-06-28 | 2017-11-07 | 京东方科技集团股份有限公司 | A kind of line-up device and its queuing control method |
| CN109572448A (en) * | 2018-12-29 | 2019-04-05 | 中国重汽集团济南动力有限公司 | A kind of pure electric automobile auxiliary control method and its control system based on ramp sensor |
| CN109890676A (en) * | 2016-11-04 | 2019-06-14 | 本田技研工业株式会社 | Vehicle control system, control method for vehicle and vehicle control program |
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| CN104880978A (en) * | 2014-02-28 | 2015-09-02 | 福特全球技术公司 | Semi-autonomous Mode Control |
| WO2016065996A1 (en) * | 2014-10-30 | 2016-05-06 | 奇瑞汽车股份有限公司 | Vehicle safety start-stop system and method |
| CN109890676A (en) * | 2016-11-04 | 2019-06-14 | 本田技研工业株式会社 | Vehicle control system, control method for vehicle and vehicle control program |
| CN109890676B (en) * | 2016-11-04 | 2022-03-11 | 本田技研工业株式会社 | Vehicle control system, vehicle control method, and storage medium |
| CN107330921A (en) * | 2017-06-28 | 2017-11-07 | 京东方科技集团股份有限公司 | A kind of line-up device and its queuing control method |
| US10922630B2 (en) | 2017-06-28 | 2021-02-16 | Boe Technology Group Co., Ltd. | Queuing apparatus, and queuing control method thereof |
| CN109572448A (en) * | 2018-12-29 | 2019-04-05 | 中国重汽集团济南动力有限公司 | A kind of pure electric automobile auxiliary control method and its control system based on ramp sensor |
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Application publication date: 20120822 |