CN103587524A - Lateral active collision avoidance system and control method thereof - Google Patents
Lateral active collision avoidance system and control method thereof Download PDFInfo
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- CN103587524A CN103587524A CN201310508776.XA CN201310508776A CN103587524A CN 103587524 A CN103587524 A CN 103587524A CN 201310508776 A CN201310508776 A CN 201310508776A CN 103587524 A CN103587524 A CN 103587524A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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Abstract
The invention discloses a lateral active collision avoidance system and a control method thereof. The system comprises a signal acquisition system, a signal processing system, and a controller. The signal acquisition system comprises a vehicular radar set, an image acquisition system and a vehicle sensor. The input end of the signal processing system is connected with the output end of the signal acquisition system, and the signal processing system is sued for converting data acquired by the signal acquisition system into electrical signals and transmitting the data to the controller. The input end of the controller is connected with the output end of the signal processing system, and the controller is used for further processing the data acquired by the signal processing system. The lateral active collision avoidance system is capable of allowing vehicles to actively avoid collisions during running, damage caused by rear-end collisions can be reduced effectively, the damage of vehicle lateral collision upon drivers and vehicles and upon blocked vehicles and passengers can be reduced effectively, loss on economic property can be reduced effectively, a safer and more comfortable driving environment is provided for drivers, and driving safety is improved.
Description
Technical field
The invention discloses a kind of horizontal active anti-collision system and control method thereof, realize the collision avoidance to lateral direction of car obstacle, belong to active safety technical field.
Background technology
Along with the rapid growth of automobile pollution, traffic safety problem has become the major issue of national governments and social concerns.Data shows, having 70%～90% traffic accident is due to due to driver's operation error, and only accounts for approximately 3% because of what vehicle trouble caused.Although adopt increasing passive security technology (as safety air bag, safety strap, pedestrian protecting and energy-absorbing car body etc.) to alleviate the extent of injury of accident, the basic reason that causes traffic accident generation is not all resolved.If can remind chaufeur note and help chaufeur to take safety measures under emergency before accident occurs, very useful beyond doubt to the generation of minimizing traffic accident, Automotive active anti-collision system realizes the technological means of this function just.
Research shows, by means of active anti-collision system, rear-end impact reduced rate can reach 2%, and accident free can reduce the labour intensity of chaufeur while occurring greatly.
At present anti-collision system for automobile can adopt multiple technologies means, as technology such as super sonic, infrared, laser, video, radars.It mainly avoids initiatively collision by controlling hydraulic brake system and electric boosting steering system.
But because existing collision avoidance system is mainly avoided initiatively collision by controlling hydraulic brake system, and can not avoid collision for some extraordinary circumstances brakings, can only reduce the injury of head-on crash, and for the collision of side and knock into the back and can not initiatively avoid, the safety that chaufeur is driven can not better be ensured.
Summary of the invention
For overcoming in above-mentioned prior art for side collision and the problem that knocks into the back and can not initiatively avoid, the invention provides a kind of horizontal active anti-collision system and control method thereof.
Technical scheme of the present invention is as follows:
An active anti-collision system, comprising: signal acquiring system, signal handling equipment, controller;
Described signal acquiring system comprises trailer-mounted radar device, image capturing system and from car sensor; Described trailer-mounted radar device is arranged at automotive front, left, right-hand and rear, is respectively used to gather relative distance, speed, the azimuth information of objects in front, left object, right-hand object and rear object and sends in time signal handling equipment to; Described from car sensor for gathering speed, acceleration/accel and the yaw velocity information of described vehicle body, and send in time signal handling equipment to;
The input end of described signal handling equipment is connected with the mouth of signal acquiring system, for the data of signal acquiring system collection are changed into electric signal, obtain the relative distance, speed, azimuth information of objects in front, left object, right-hand object and rear object and from speed, acceleration/accel and the yaw velocity information of car, and described all information are sent to controller;
The input end of described controller is connected with the mouth of signal handling equipment, for the data that obtain from signal handling equipment are further processed, analyze the distance of judgement between car and obstacle whether in safe range, if it is continue to survey, if not in safe range with interior, first carry out that acoustics is reported to the police and figure display alarm, carry out the path planning of vehicle simultaneously, if chaufeur is not made corresponding measure, automobile enters initiatively collision avoidance pattern, entering autonomous cruise speed system turns to automatically, braking or acceleration operation, described autonomous cruise speed system comprises braking control system, the steering control system air throttle control system of unifying.
Further, described trailer-mounted radar device comprises at least six radar sensors, lays respectively at one, one of automotive front, two of lefts, right-hand two and rear.
A control method for horizontal active anti-collision system, is divided into following situation and controls:
(1), when when car travel direction is vertical with obstacle travel direction, trailer-mounted radar device and image capturing system collection are from the speed of the distance S of car and obstacle, azimuth angle alpha, obstacle and from the velocity information of car; Through information processing obtain the cosine value S1 about azimuth angle alpha from the distance S of car and obstacle, from the sine value S2 about azimuth angle alpha of the distance S of car and obstacle, when car and obstacle cross the needed time; Controller judges the safety of running car, if safety continues detection, the dangerous alerting signal of sending, if chaufeur is not interfered, vehicle enters initiatively collision avoidance pattern, depending on particular case, brakes respectively, first brake rear steering, accelerate if desired to pass through;
(2) under the operating mode of running at high speed, information acquisition system collects from car side obstacle car, obstacle car has the trend and the trend that turn to further to aggravate, this Time Controller is reported to the police, signal chaufeur is interfered, first blow a whistle, if obstacle car reacts, do not continue to keep original travel way, from car, carry out active collision avoidance so;
(3), under the operating mode of running at high speed, from the radar detection at car rear, to having obstacle car in the trend of accelerating and not have deceleration, from the control system of car, initiatively accelerate, thereby avoid car rear-end.
Further, in situation (2), if all have obstacle from car left and right, now turning function can not be achieved, braking control system can only alleviate the intensity of shock, and now according to calculating from the performance of car, acceleration can obstacle crossing car, the aperture of controller control throttle gate is accelerated so, thereby realizes described active collision avoidance.
The invention has the beneficial effects as follows:
1, the present invention can make vehicle initiatively avoid in the process of moving collision;
2, the present invention can effectively reduce the harm that car rear-end is brought;
3, the present invention can effectively reduce the harm that lateral direction of car collision brings driver and its vehicle, and the harm that obstacle vehicle and pedestrian are brought, energy actv. reduces the loss of economic asset, gives safer, the comfortable driving environment of driver, thereby has improved the safety in travelling.
Accompanying drawing explanation
Fig. 1 is the groundwork figure of a kind of horizontal active anti-collision system of the present invention;
Fig. 2 is trailer-mounted radar device radar sensor position view provided by the invention;
Fig. 3 is that the present invention's image that laterally initiatively anti-collision system image capturing system gathers shows simplified schematic diagram;
Fig. 4 is laterally active anti-collision system example sketch of a kind of four corners of the present invention;
Fig. 5 is horizontal anti-collision system the first example sketch of embodiment high speed highway;
Fig. 6 is horizontal anti-collision system the second example sketch of embodiment high speed highway;
Fig. 7 is the laterally control method diagram of circuit of active anti-collision system of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The groundwork of a kind of horizontal active anti-collision system of the present invention as shown in Figure 1.
This system comprises signal acquiring system, signal handling equipment, controller.
Signal acquiring system comprises trailer-mounted radar device (at least six), image capturing system and from car sensor.Signal acquiring system mainly obtains gets road information and from car information.And the described signal collecting is sent to signal handling equipment.
The road information that signal handling equipment obtains signal acquiring system and processing from car information, obtain the information such as relative distance, speed, azimuth and travel direction of objects in front, left object, right-hand object and rear object and from the speed of car, the information such as acceleration/accel and yaw velocity.And be real-time transmitted to controller.
Controller is further processed the data that obtain from signal handling equipment, whether the distance of analysis between car and obstacle be in safe range, if it is continue to survey, if not in safe range with interior; first carry out that acoustics is reported to the police and figure display alarm, carry out the path planning of vehicle simultaneously, if chaufeur is not made corresponding measure, automobile enters initiatively collision avoidance pattern, enters autonomous cruise speed system and automatically turns to, brakes or the operation such as acceleration.
As shown in Fig. 2, described trailer-mounted radar device radar sensor lays respectively at front end 1, left side 2, left side 3, right side 4, right side 5 and the rear end 6 of vehicle body.Be respectively used to gather the running information of front side object, left side object, right side object and rear car, and send collected information to information handling system.The information such as speed, displacement and angle and travel direction,
Fig. 3 is that the present invention's image that laterally initiatively anti-collision system image capturing system gathers shows simplified schematic diagram, and in figure, 7 is from car, and 8,9,10,11 is obstacle vehicle, pedestrian or non-power-driven vehicle.Diagram road conditions are the four corners that there is no signal lamp, 7 is from car, 8,9,11 for being in the vehicle on same straight line, and 10 be with from the vertical pedestrian of car travel direction or non-power-driven vehicle, in driving process, from car, to being in all vehicles of front end, left side, left side, right side, right side and the rear end of vehicle body, survey, set forth on left side and right side mainly for vehicle in this example.
When car travel direction is vertical with obstacle travel direction as Fig. 3 Fig. 4 in 7 and 10 situation, trailer-mounted radar device and image capturing system collection are from the speed of the distance S of car and obstacle 10, azimuth angle alpha, obstacle and from the information such as speed of car.Obtain S1 through information processing, S2 and needed time when car and obstacle cross.Controller judges the safety of running car, if safe continuation is surveyed, the dangerous alerting signal of sending, if chaufeur is not interfered, vehicle enters initiatively collision avoidance pattern, depending on particular case, brakes respectively, first brakes rear steering, turn to, in the time of necessary, accelerate to pass through.
Fig. 5 is the operating mode of running at high speed, and wherein 12 is from car, and 13,14,15 are respectively obstacle car.14,15 two cars normally travel, and car 13 is prepared to overtake other vehicles.Now information acquisition system collects 13 cars has the trend and the trend that turn to further to aggravate, this Time Controller is reported to the police, and signal chaufeur is interfered, and first blows a whistle, if obstacle car reacts, do not continue to keep original travel way, from car, carry out active collision avoidance so.Due to relatively too fast from vehicle speed, all there is obstacle left and right, now turning function can not be achieved, braking can only alleviate the intensity of shock, now according to calculating from the performance of car, acceleration can obstacle crossing car 13, and the aperture that controller is controlled throttle gate is so accelerated, thereby realizes safe collision avoidance.
Fig. 6 remain run at high speed operating mode and Fig. 5 similar, wherein 12 is from car, 13,14,15,16 be respectively obstacle car, 13,14,15 normally travel, thereby the radar detection of vehicle back can initiatively accelerate from the control system of car personnel's injury and the economic asset loss of avoiding car rear-end to cause to 16 cars in the trend of accelerating and not having to slow down.
Fig. 7 is the control flow chart of whole system, open initiatively anti-collision system switch (beginning), information acquisition system initialization, initialization is complete carries out data acquisition, and data acquisition is complete to be processed to radar data and from car data, obtain respectively obstacle distance, relative velocity, obstacle travel direction, azimuth and from vehicle speed, acceleration/accel, steering wheel angle, the information such as yaw velocity.The complete judgement of carrying out safety of data processing, if safety is proceeded data acquisition, reports to the police if dangerous, if chaufeur carries out proper operation after reporting to the police, continues image data, enters autonomous cruise speed system if do not operate.First situation is judged whether only to need braking? if brake, if not, does judging whether only need to turn to? to turn to, not to continue to judge whether to be first to brake rear steering? first to brake rear steering, not can be judged to be to need to accelerate to pass through, thereby accelerate to pass through.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (4)
1. a horizontal initiatively anti-collision system, is characterized in that, comprising: signal acquiring system, signal handling equipment, controller;
Described signal acquiring system comprises trailer-mounted radar device, image capturing system and from car sensor; Described trailer-mounted radar device is arranged at automotive front, left, right-hand and rear, is respectively used to gather relative distance, speed, the azimuth information of objects in front, left object, right-hand object and rear object and sends in time signal handling equipment to; Described from car sensor for gathering speed, acceleration/accel and the yaw velocity information of described vehicle body, and send in time signal handling equipment to;
The input end of described signal handling equipment is connected with the mouth of signal acquiring system, for the data of signal acquiring system collection are changed into electric signal, obtain the relative distance, speed, azimuth information of objects in front, left object, right-hand object and rear object and from speed, acceleration/accel and the yaw velocity information of car, and described all information are sent to controller;
The input end of described controller is connected with the mouth of signal handling equipment, for the data that obtain from signal handling equipment are further processed, analyze the distance of judgement between car and obstacle whether in safe range, if it is continue to survey, if not in safe range with interior, first carry out that acoustics is reported to the police and figure display alarm, carry out the path planning of vehicle simultaneously, if chaufeur is not made corresponding measure, automobile enters initiatively collision avoidance pattern, entering autonomous cruise speed system turns to automatically, braking or acceleration operation, described autonomous cruise speed system comprises braking control system, the steering control system air throttle control system of unifying.
2. according to a kind of horizontal active anti-collision system described in claims 1, it is characterized in that, described trailer-mounted radar device comprises at least six radar sensors, lays respectively at one, one of automotive front, two of lefts, right-hand two and rear.
3. a horizontal initiatively control method for anti-collision system, is divided into following situation and controls:
(1), when when car travel direction is vertical with obstacle travel direction, trailer-mounted radar device and image capturing system collection are from the speed of the distance S of car and obstacle, azimuth angle alpha, obstacle and from the velocity information of car; Through information processing obtain the cosine value S1 about azimuth angle alpha from the distance S of car and obstacle, from the sine value S2 about azimuth angle alpha of the distance S of car and obstacle, when car and obstacle cross the needed time; Controller judges the safety of running car, if safety continues detection, the dangerous alerting signal of sending, if chaufeur is not interfered, vehicle enters initiatively collision avoidance pattern, depending on particular case, brakes respectively, first brake rear steering, accelerate if desired to pass through;
(2) under the operating mode of running at high speed, information acquisition system collects from car side obstacle car, obstacle car has the trend and the trend that turn to further to aggravate, this Time Controller is reported to the police, signal chaufeur is interfered, first blow a whistle, if obstacle car reacts, do not continue to keep original travel way, from car, carry out active collision avoidance so;
(3), under the operating mode of running at high speed, from the radar detection at car rear, to having obstacle car in the trend of accelerating and not have deceleration, from the control system of car, initiatively accelerate, thereby avoid car rear-end.
4. according to the control method of a kind of horizontal active anti-collision system described in claims 3, it is characterized in that, in situation (2), if all have obstacle from car left and right, now turning function can not be achieved, and braking control system can only alleviate the intensity of shock, now according to calculating from the performance of car, acceleration can obstacle crossing car, and the aperture that controller is controlled throttle gate is so accelerated, thereby realizes described active collision avoidance.
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Cited By (40)
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| CN103921790A (en) * | 2014-05-12 | 2014-07-16 | 李质勇 | Vehicle active safety intelligent system and control method |
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| CN104494550A (en) * | 2014-12-15 | 2015-04-08 | 江苏大学 | Active anticollision device of vehicle and calculating method of anticollision distance |
| CN104842877A (en) * | 2015-05-15 | 2015-08-19 | 侯贻平 | Communication technology-based emergency avoidance platform for motor vehicles |
| CN105109486A (en) * | 2015-09-18 | 2015-12-02 | 智车优行科技（北京）有限公司 | Safety monitoring and controlling device and method for vehicle |
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