CN105197012A - Automatic vehicle control method - Google Patents
Automatic vehicle control method Download PDFInfo
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- CN105197012A CN105197012A CN201510651261.4A CN201510651261A CN105197012A CN 105197012 A CN105197012 A CN 105197012A CN 201510651261 A CN201510651261 A CN 201510651261A CN 105197012 A CN105197012 A CN 105197012A
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/246—Temperature
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- 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
- B60W2554/801—Lateral distance
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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
- B60W2710/08—Electric propulsion units
- B60W2710/081—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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
The invention discloses an automatic vehicle control method. The method comprises the following steps that 100, the vehicle state is detected, the vehicle is started after it is detected that the vehicle state is normal, and the vehicle is driven in a conventional driving mode; 200, a set driving mode is received, and whether the received set driving mode is an automatic driving mode or not is judged; 300, when it is determined that the received set driving mode is the automatic driving mode, the battery capacity is detected, the vehicle enters the automatic driving mode if the battery capacity is larger than a set threshold value, and the vehicle is driven in a conventional driving mode if not. The automatic vehicle control method is good in safety.
Description
Technical field
The invention belongs to automation field, particularly a kind of vehicle automatic control method.
Background technology
The object that electronlmobil replacement or part replace internal-combustion engines vehicle is to reduce the heavy dependence to the energy based on crude oil, expands energy source space, reduces chemical energy source to the damage and pollution of environment simultaneously.Along with people's living standard improves constantly, operating motor vehicles carries out work and study and life, become an indispensable part in people's life, but along with the quickening of people's rhythm of life, the increasing of work competitive pressure, easily because fatigue driving, there is traffic accident, cause the loss that cannot retrieve to society and family, therefore, elec. vehicle automatic Pilot is more and more subject to people's attention.
Summary of the invention
For the defect of prior art, the invention provides a kind of vehicle automatic control method.
A kind of vehicle automatic control method, comprises the following steps:
S100: detect vehicle-state, normally starts vehicle afterwards at detection vehicle-state, drives with conventional type of drive to vehicle;
S200: the driving model receiving setting, judges that the driving model of the setting received is whether as automatic driving mode;
S300: when the driving model set judging to receive is as automatic driving mode, detects battery electric quantity, enter automatic driving mode when battery electric quantity is greater than setting threshold, otherwise continue type of drive driving routinely;
S400: after entering automatic driving mode, identifies track, vehicle velocity V, spacing S;
S500: judge whether front, track exists vehicle, when judging that front, track does not exist vehicle, is set as the best speed of a motor vehicle by current vehicle speed, otherwise performs step S600;
S600: judge whether be greater than spacing setting threshold with front truck spacing;
S700: when judging to be less than spacing setting threshold with car front truck distance, according to current vehicle speed V with front truck spacing S, vehicle is braked;
S800: when judging to be more than or equal to spacing setting threshold with car front truck distance, calculate motor speed given value n ' according to current vehicle speed V with front truck spacing S;
S900: when judging that motor breaks down, exiting automatic driving mode, entering fault drive pattern, described fault drive pattern at least comprises and disconnected to drive mutually.
Optionally, detect in described step S100 vehicle-state comprise detect accelerator pedal position sensor, brake pedal position sensor, Battery temperature probe, rear CCD, rear car alarm unit, rear radar, front radar, front CCD signal whether normal, and whether accumulator electric-quantity, braking liquid liquid level normal.
Optionally, in described step S400, track is identified, specifically comprises the following steps:
S401: obtain original video image signal by front CCD;
S402: use median filtering algorithm to carry out filtering to original image signal; Due to acquired original to view data there is certain noise, median filtering algorithm is used to carry out denoising to signal, specifically the gray value of each pixel is set to the intermediate value of all pixel gray values in this vertex neighborhood window, the value of any in digital image or Serial No. is replaced with the Mesophyticum of each point value in a neighborhood of this point, allow the actual value that the pixel value of surrounding is close, thus eliminate isolated throat sound point;
S403: to the binary conversion treatment of filtered image, image binaryzation formula is as follows:
Wherein f (x, y) represents input picture, and g (x, y) represents output image, the threshold value selected when T is binary conversion treatment;
S404: extract lane markings line boundary from binary image, specifically it comprises: utilize Laplace operator to carry out edge enhancing to road image, obtain gradient image; In compute gradient image, gray level maxim Imax and minimum value Imin calculates the threshold value To of distinguishing characteristic object and background by formula (2);
To＝(a*Imax+b*Imin)/K(2)
In formula, a is Imax weighted value, and b is Imin weighted value, and K is adjusting thresholds value, wherein a+b=1;
S405: travel through image, realizes image boundary segmentation, utilizes Hough transform to carry out lane identification.
Optionally, judging in described step S500 whether front, track exists vehicle, comprise the detection threshold that setting one is less than radar coverage, when detecting less than vehicle in this detection threshold, then judging that its front does not exist vehicle.
Optionally, in described step S500, also comprise reception navigation information, obtain present road Maximum speed limit according to navigation information, the speed of a motor vehicle is set as current road segment Maximum speed limit.
Optionally, calculate motor speed given value n ' according to current vehicle speed V with front truck spacing S in described step S800, specifically comprise:
S801: obtain current vehicle speed V and with front truck spacing S;
S802: with front truck spacing S and spacing S will be set
fsubtract each other, obtain deviation e1, setting spacing S
ffor the safe distance between vehicles set during automatic driving mode;
S802: carry out PID adjustment to deviation e1, subtracts each other adjustment result and current vehicle speed V, obtains deviation e2;
S803: carry out Fuzzy tuning to deviation e2 by fuzzy controller, obtains motor speed given value n ';
S804: driver element according to the running of motor speed given value n ' drive motor, thus adjusts the speed of a motor vehicle of cruising.
Optionally, described step S900 specifically comprises the following steps:
S901: the first audio amplitude when pre-stored motor normally runs.Such as can gather sound when motor normally runs by the Mike be arranged on motor, extract the information such as the frequency of this aud. snl., amplitude, be stored in memory device;
S902: obtain the second audio amplitude when motor runs, when the number of times that the difference of the second audio amplitude and the first audio amplitude in setting-up time section is greater than the amplitude thresholds of setting is greater than setting value, then judge that motor breaks down, and sends prompting to chaufeur, exits automatic driving mode;
S903: determine whether open phase fault, when being judged to be no, goes to step S904, when being judged to be, goes to step 905;
S904: be judged to be mechanical breakdown, sends parking maintenance prompting to chaufeur;
S905: when being judged to be open phase fault, when rotary speed setting value n ' is higher than faulty condition maximum allowable speed nf, rotary speed setting value n ' is set as nf, when rotary speed setting value n ' is less than or equal to nf, is run by drive unit drives motor according to rotary speed setting value n ', specifically comprise: because phase shortage electric current is zero during fault, now motor will be operated in asymmetric state, suppose that A phase disconnects, then phase current ia=0, ib=-ic, ua=0 event:
Can be calculated accordingly,
Ψ
α＝∫(u
α-R
si
α)dt
Ψ
β＝∫(u
β-R
si
β)dt(6)
When open-phase running, motor rotor position sensor detects motor rotor position θ, the velocity amplitude n detected and rotary speed setting value n ' compares by speed detector, torque given value Te ' is obtained after Negotiation speed pi regulator, current sensor and voltage sensor detect three phase current and magnitude of voltage respectively, detected value is sent into torque and flux observer, torque and flux observer are according to formula (3), (4) α shaft current value i α is calculated respectively, α shaft voltage value U α, β shaft current value i β, β shaft voltage value U β, through type (5), (6) actual torque value Te and stator magnetic linkage ψ s is calculated, the actual torque value Te calculated and stator magnetic linkage ψ s respectively with torque given value Te ' and flux linkage set value ψ s ', compare, difference is after PI regulates, through anti-Park Transformation, obtain α shaft voltage given value u α ', β shaft voltage given value u β '.
Optionally, described step S700 comprises:
S701: judge whether current vehicle speed is zero, when the speed of a motor vehicle is zero, then starts deceleration of electrons unit, otherwise performs step S702;
S702: judging whether current vehicle is apart from being less than the first spacing setting threshold, when spacing is less than the first spacing threshold value, opening mechanical braking and resistance braking simultaneously, performing step S703 when spacing is greater than the first spacing setting threshold;
S703: judge that current vehicle is apart from whether being less than the second spacing setting threshold, wherein the second spacing setting threshold is greater than the first spacing setting threshold, when spacing is less than the second spacing setting threshold, only adopts mechanical braking, when spacing is greater than the second spacing setting threshold, regenerative braking mode is adopted to brake.
Optionally, described resistance braking, regenerative braking and mechanical braking complete respectively by dynamic braking unit, regenerative braking unit and mechanical braking unit, the metal oxide semiconductor field effect tube MOSFET1 that wherein said dynamic braking unit comprises resistance R3 and is connected in series with resistance R3, one end connection signal input end of resistance R1, the other end of resistance R1 connects the grid of MOSFET1, the drain electrode of MOSFET1 is connected the source ground of MOSFET1 with resistance R3, another termination DC bus positive pole of resistance R3, two stabilivolts are with on the drain electrode again negative electrode at two ends being connected on MOSFET1 respectively after anode relative mode serial connection and source electrode, two protection diodes are connected in series with anode relative mode, the negative electrode of one of them protection diode is connected between signal input part and resistance R1, the negative ground of another protection diode, one end of resistance R2 is connected between signal input part and resistance R1, the other end ground connection of resistance R2, for MOSFET1 provides bias voltage, described regenerative braking unit comprises multiple reservoir capacitance C of being connected in parallel and transistor V1, V2, transistor V1, V2 are connected in series between DC bus, the collecting electrode of transistor V1 is connected with DC bus positive pole, the emitter of transistor V2 is connected with DC bus negative pole, and one end of reservoir capacitance C connects the collecting electrode of transistor V2 by inductance L 1, described mechanical braking unit is connected with magneto-electric machine, and mechanical braking unit receives the speed-slackening signal of ECU, and control magneto-electric machine running, magneto-electric machine promotes main hydraulic cylinder piston movement, is worked by hydraulic-driven plate disc brake.
Optionally, be also included in after vehicle enters automatic driving mode and in real time battery temperature, battery electric quantity, driver status, front vehicle state, Das Gaspedal state and brake pedal state detected; When battery temperature is lower than setting value, now start heating arrangement and heat battery, when temperature is greater than the first setting threshold, now carry out output power limit to battery, when battery temperature is greater than the second setting threshold, ECU gives a warning; Driver status detects mainly detect whether there is fatigue driving, and it to the chaufeur face-image in driving compartment, carries out Face detection according to camera collection; Then theoretical according to people's face skin color model, by discoloring, binaryzation scheduling algorithm determination position of human eye; Finally close combinations of states frequency of wink calculate degree of fatigue according to opening of human eye, based on this degree of fatigue, the risk that chaufeur is in fatigue driving can be obtained; The detection of front vehicle state is completed by rear CCD and rear radar, rear CCD is for identifying whether rear exists vehicle, rear radar is for measuring the speed of a motor vehicle and the spacing of front vehicle, when automatic driving mode, when rear CCD recognize there is vehicle in track, rear time, the speed of a motor vehicle of rear radar surveying front vehicle and spacing, when detecting that the spacing of front vehicle and this car is less than setpoint distance and the rear speed of a motor vehicle is greater than preset vehicle speed, the warning indicator lamp of ECU unlocking vehicle, the chaufeur simultaneously to this car gives a warning.
The invention has the beneficial effects as follows: the present invention detects battery electric quantity before entering automatic driving mode, in automatic driving mode, detect front vehicle state, driver status etc., the safety of automatic Pilot can be improved by these measures; By the identification for track, the speed of a motor vehicle and spacing, reasonably select braking scheme, the feedback of electric energy can be realized under the premise that security is guaranteed to greatest extent; When vehicle breaks down, can according to fault type choose reasonable drive scheme; In a word, autocontrol method of the present invention improves safety and the drive efficiency of automatic Pilot.
Accompanying drawing explanation
Fig. 1 is the structural representation of auto control system in vehicles of the present invention;
Fig. 2 is the first pass figure of autocontrol method of the present invention;
Fig. 3 is the second diagram of circuit of autocontrol method of the present invention;
Fig. 4 is lane identification result of the present invention;
Fig. 5 is motor speed control structure schematic diagram of the present invention;
Sound signal when Fig. 6 is et out of order of the present invention;
Fig. 7 is the structural representation of driver element of the present invention;
Fig. 8 is the diagram of circuit of step S700 of the present invention;
Fig. 9 is that vehicle-state of the present invention detects schematic diagram.
Detailed description of the invention
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, are described in detail the specific embodiment of the present invention below in conjunction with accompanying drawing, make above-mentioned and other object of the present invention, Characteristics and advantages will be more clear.Reference numeral identical in whole accompanying drawing indicates identical part.Deliberately do not draw accompanying drawing in proportion, focus on purport of the present invention is shown.
As shown in Figure 1, generally speaking, elec. vehicle of the present invention can comprise ECU (electronic control unit) and the driving model input block be connected with ECU, accelerator pedal position sensor, brake pedal position sensor, Battery temperature probe, rear CCD, rear car alarm unit, rear radar, front radar, front CCD, brake unit, driver element and driver status detecting unit.ECU is responsible for the control of car load, chaufeur can by driving model input block input driving model, these driving models can be such as mode of motion, comfort mode, automatic driving mode etc., and driving model input block can be such as vehicular touch screen, button etc.; Accelerator pedal position, brake pedal position and battery temp is detected respectively by accelerator pedal position sensor, brake pedal position sensor and Battery temperature probe, storage battery is used for providing electric power supply for car load, forward and backward CCD is for carrying out the image acquisition before and after vehicle, and forward and backward radar is used for the Distance geometry speed of object (such as other vehicle) before and after collection vehicle.Driver element is connected with four wheel hub motors, and by drive unit drives wheel hub motor, thus drive automobile to advance, driver status detecting unit, for detecting the state of chaufeur, prevents fatigue driving; Rear car alarm unit be used for detect rear car exist knock into the back possibility time, send alarm signal to rear car.Next vehicle automatic control method of the present invention is described in detail.
As shown in Figure 2, before traveling, ECU detects vehicle-state in the step s 100, such as this detection can be carried out after chaufeur opens ignition lock, these detections comprise, accelerator pedal position sensor, brake pedal position sensor, Battery temperature probe, rear CCD, rear car alarm unit, rear radar, front radar, whether the signal of front CCD is normal, accumulator electric-quantity, whether braking liquid liquid level is normal, normally start in the normal rear vehicle of each detection signal, if detection signal mal, sends prompting to chaufeur, such as fault-indicating lamp can be lighted.After vehicle start-up, vehicle carries out routine and drives, conventional drive to refer to drive according to the operation of chaufeur, such as corresponding chaufeur is stepped on the throttle pedal and accelerating, and correspondingly steps on brake pedal and carries out braking etc.
In step s 200, ECU receives the driving model of setting by driving model input block, the driving model of setting can comprise energy saver mode, mode of motion, automatic driving mode etc., and the driving model of setting can be inputed to ECU by driving model input block by chaufeur.This rear vehicle drives vehicle accordingly according to different driving models.Generally speaking, in automatic driving mode, because needs detect multi-signal, such as, rear radar, before, rear CCD etc., ECU also needs to carry out a large amount of calculation process simultaneously, this just causes relative to common driving model, under automatic driving mode, vehicle needs to consume more electric energy, when accumulator electric-quantity is too low, often normally can not maintain automatic driving mode, this is breakneck in vehicle travels, especially at needs emergency braking or when promptly accelerating, this usually needs more electric power supply, and this electric power supply can not be provided when battery electric quantity is too low, thus cannot under automatic driving mode, complete emergency braking or promptly accelerate, very easily cause the accident generation.To this, after have selected automatic driving mode, in step S300, ECU detects battery electric quantity, then enters automatic driving mode when battery electric quantity is greater than setting threshold, otherwise prompting chaufeur electricity is too low can not enter automatic driving mode.After chaufeur have selected automatic driving mode, first ECU receives the current electric quantity signal of storage battery that battery charge sensor detects, it determines whether can enter automatic driving mode according to battery electric quantity, when detecting that battery electric quantity is prohibited from entering automatic driving mode lower than during the threshold value set, such as battery electric quantity lower than 25% time, then be prohibited from entering automatic driving mode, so just improve the safety of automatic Pilot.
Refer to Fig. 3, after entering automatic driving mode, by step S400, track, vehicle velocity V, spacing S are identified.Specifically, after entering automatic driving mode, vehicle can open forward and backward CCD camera and front and back radar, its spacing S relative to front truck of radar surveying before utilizing, obtain current vehicle speed V by car speed sensor, these are prior art, repeat no more, meanwhile, vehicle is identified track by front CCD, specifically comprises the following steps:
S401: obtain original video image signal by front CCD;
S402: use median filtering algorithm to carry out filtering to original image signal; Due to acquired original to view data there is certain noise, use median filtering algorithm can carry out denoising to signal, specifically the gray value of each pixel is set to the intermediate value of all pixel gray values in this vertex neighborhood window, the value of any in digital image or Serial No. is replaced with the Mesophyticum of each point value in a neighborhood of this point, allow the actual value that the pixel value of surrounding is close, thus eliminate isolated throat sound point;
S403: to the binary conversion treatment of filtered image, image binaryzation formula is as follows:
Wherein f (x, y) represents input picture, and g (x, y) represents output image, the threshold value selected when T is binary conversion treatment;
S404: extract lane markings line boundary from binary image, specifically it comprises: utilize Laplace operator to carry out edge enhancing to road image, obtain gradient image; In compute gradient image, gray level maxim Imax and minimum value Imin calculates the threshold value To of distinguishing characteristic object and background by formula (2);
To＝(a*Imax+b*Imin)/K(2)
In formula, a is Imax weighted value, and b is Imin weighted value, and K is adjusting thresholds value, wherein a+b=1;
S405: travel through image, realizes image boundary segmentation, utilizes Hough transform to carry out lane identification.Hough transform utilizes image overall characteristic, edge image is coupled together compositing area closed boundary, is usually used in lane identification.Fig. 4 shows the carriageway image after adopting recognition methods identification of the present invention, and as seen from Figure 4, the track after identification has border clearly.
In step S500, judge whether front exists vehicle, specifically, front thunder can be utilized to judge whether front exists vehicle, the detection range of radar is limited, and the detection range being such as installed on the front radar on vehicle can be 1KM, 2KM etc., and concrete detection range is determined by radar performance, when there is not vehicle in radar range, then can judge that its front does not exist vehicle; Further, can set the threshold value that is less than radar coverage, when there is not vehicle in this threshold value, then judge that its front does not exist vehicle, such as this threshold value can be set as 500m; When judging that Current vehicle front does not exist any vehicle, then current vehicle speed is set as the best speed of a motor vehicle, further navigation information can also be received, the best speed of a motor vehicle is set according to navigation information and detection signal, when current vehicle speed V is higher than road Maximum speed limit, then the speed of a motor vehicle is set as current road segment Maximum speed limit.
When judging that Current vehicle front exists vehicle, in step S600, then judge whether be greater than setting threshold with the spacing S of front truck, when distance is less than setting threshold, then illustrate that itself and front truck spacing are excessively near, there is rear end collision, ECU is braked vehicle by step S700, and vehicle is braked by brake unit.When distance is greater than setting threshold, in step S800, calculates motor speed given value n ' according to current vehicle speed, spacing, adjust the speed of a motor vehicle of cruising.Specifically: it adopts the control policy of spacing outer shroud, speed of a motor vehicle inner ring, as shown in Figure 5, step S800 specifically comprises its system architecture:
S801: obtain current vehicle speed V and with front truck spacing S;
S802: with front truck spacing S and spacing S will be set
fsubtract each other, obtain deviation e1.Setting spacing S
ffor the safe distance between vehicles set during automatic driving mode, this spacing can be set by chaufeur and also can be set by production firm when dispatching from the factory;
S802: carry out PID adjustment to deviation e1, subtracts each other adjustment result and current vehicle speed V, obtains deviation e2;
S803: carry out Fuzzy tuning to deviation e2 by fuzzy controller, obtains motor speed given value n ';
S804: driver element according to the running of motor speed given value n ' drive motor, thus adjusts the speed of a motor vehicle of cruising.
Due to the control policy that it adopts spacing outer shroud, speed of a motor vehicle inner ring, the speed of a motor vehicle and spacing can be made to be well controlled simultaneously.
After acquisition motor speed given value n ', in step S900, judge whether motor breaks down.Fault common for drive motor is mechanical breakdown and open-phase fault, mechanical breakdown refers to because motor operates for a long time, motor shaft and bearing can cause wearing and tearing, and also likely occur friction between rotor and stator, the fault caused by these is referred to as mechanical breakdown; And open-phase fault generally due to motor wherein a phase open circuit cause.Motor its operation sound frequency sent when normal operation is normally fixed, and when no matter there is mechanical breakdown or open-phase fault in motor, it can produce less desirable sound frequency, the operation sound frequency that when can run motor accordingly, it sends detects, and finds the fault of motor thus.Specifically, comprise the following steps:
S901: the first audio amplitude when pre-stored motor normally runs.Such as can gather sound when motor normally runs by the Mike be arranged on motor, extract the information such as the frequency of this aud. snl., amplitude, be stored in memory device;
S902: obtain the second audio amplitude when motor runs, when the difference of the second audio amplitude and the first audio amplitude is greater than the threshold value of setting, then judgement motor breaks down; When judging that motor does not exist fault, then run by drive unit drives motor according to motor given rotating speed n ', when it is determined that the presence of fault, then ECU sends fault cues to chaufeur, and exiting automatic driving mode, ECU selects different drive patterns according to fault type afterwards.Below it is described in detail.
Refer to Fig. 6, ECU obtains motor sound signal by Mike, extract its amplitude, when motor normally runs in figure 6, its audio amplitude is [-1-2], less desirable sound frequency i.e. the second audio amplitude is created at 3 when a failure occurs a, b, c, this audio amplitude of 3 has all exceeded the first audio amplitude, the threshold value of setting can be such as 0.5, for a point, its amplitude range is [-4.9-2.3], the difference of itself and the first audio amplitude is 4.9-1=3.9 > 0.5, and namely ECU can judge that motor breaks down accordingly.Further, due to electromagnetic interference and the existence of other uncertain factor in diagnostic procedure, the phenomenon of erroneous judgement can be produced, for this reason can by judging whether number of times that the difference of the second audio amplitude and the first audio amplitude in setting-up time section is greater than the threshold value of setting is greater than setting value and judges whether motor breaks down.Specifically, the time period such as set can be 4000ms, the number of times of setting can be 2 times, for Fig. 8, difference 3.9 > 0.5 of a point amplitude, difference 1.5 > 0.5 of b point amplitude, difference 1.7 > 0.5 of c point amplitude, namely the number of times that the difference of the second audio amplitude and the first audio amplitude is greater than the threshold value 0.5 of setting within this time period of 4000ms is 3 times, it is greater than set point number 2, can judge that motor breaks down thus, do like this and can avoid erroneous judgement.
S903: determine whether open phase fault, when being judged to be no, goes to step S904, when being judged to be, goes to step 905.The method that disconnected phase (phase shortage) judges has a lot, such as can determine whether open phase fault according to current i a, ib and ic, specifically can with reference to CN103515931A patent, it is incorporated herein by the present invention in full, and concrete decision process repeats no more.
S904: be judged to be mechanical breakdown, sends parking maintenance prompting to chaufeur.
By above step S901-S904 just can be clear and definite judge whether drive motor breaks down and fault type.Generally speaking, when there is mechanical breakdown, due to axle or the damage of bearing or the wearing and tearing etc. of rotor, if now continue drive motor to run, then drive motor is very likely damaged completely, the driving system be connected with drive motor is also likely damaged, this is all very dangerous for chaufeur and vehicle, therefore should not continue when there is mechanical breakdown to drive vehicle operating, therefore in the present invention when detecting that fault type is mechanical breakdown, ECU sends prompting to chaufeur, vehicle stops to safety zone by prompting chaufeur as early as possible, this prompting can pass through voice, or the mode such as screen display completes.
S905: when there is open phase fault, for polyphase machine, remaining continuation mutually can be adopted to run under disconnected phase situation, but phase-deficient operation rear motor performance perameter will change, as maximum torque and rotating speed all can decline, the motor feels hot, and amount increases, degradation problem under the amplitude of stator magnetic potential.To this, in the present invention when detecting that fault type is open phase fault, first ECU reduces the maximum speed of revolution of electrical motor permission to nf, is namely being reduced in the maximum speed allowed under faulty condition.When rotary speed setting value n ' (being determined by accelerator pedal position) is higher than nf, now given rotating speed is set as nf, when rotary speed setting value n ' is less than nf, is now run by drive unit drives motor according to motor given rotating speed n '.Structure of driving unit as shown in Figure 7, it comprises induction motor (IM), Clarke transform, anti-Park Transformation, PI torque controller, torque and flux observer, Using dSPACE of SVPWM, rotating speed pi regulator, rotor-position detection etc., adopts DTC (Direct Torque Control) to drive motor when driven.
During fault, because phase shortage electric current is zero, now motor will be operated in asymmetric state, suppose that A phase disconnects, then phase current ia=0, ib=-ic, ua=0 event:
Can be calculated accordingly,
Ψ
α＝∫(u
α-R
si
α)dt
Ψ
β＝∫(u
β-R
si
β)dt(6)
When phase-deficient operation, motor rotor position sensor detects motor rotor position θ, the velocity amplitude n detected and speed preset value n ' compares by speed detector, torque given value Te ' is obtained after Negotiation speed pi regulator, current sensor and voltage sensor detect three phase current and magnitude of voltage respectively, detected value is sent into torque and flux observer, torque and flux observer are according to formula (3), (4) α shaft current value i α is calculated respectively, α shaft voltage value U α, β shaft current value i β, β shaft voltage value U β, through type (5), (6) actual torque value Te and stator magnetic linkage ψ s is calculated, the actual torque value Te calculated and stator magnetic linkage ψ s respectively with torque given value Te ' and flux linkage set value ψ s ', compare, difference is after PI regulates, through anti-Park Transformation, obtain α shaft voltage given value u α ', β shaft voltage given value u β '.
Next by reference to the accompanying drawings 8 and with reference to accompanying drawing 7, the braking procedure of step S700 is described further.When there is vehicle in vehicle front, if when being less than the first setting threshold with leading vehicle distance, now judge whether current vehicle speed is zero in step s 701, current vehicle speed is zero, then illustrate that vehicle is the automatic driving mode under static state proceeded to, now, ECU starts deceleration of electrons unit, makes vehicle keep static.If the speed of a motor vehicle is non-vanishing, in step S702, then judge that current vehicle is apart from whether being less than the first spacing setting threshold, first setting threshold can be less distance, such as a 10m etc., when the speed of a motor vehicle is non-vanishing, and spacing is when being less than first threshold, then illustrate now there is rear end collision, need to brake as early as possible, in the case, brake unit opens mechanical braking and resistance braking simultaneously, and vehicle is stopped in shortest distance.In step S703, judge that current vehicle is apart from whether being less than the second spacing setting threshold, wherein the second spacing setting threshold is greater than the first setting threshold, can be such as 50m, when spacing be less than the second spacing setting threshold be greater than the first spacing setting threshold time, mechanical braking mode now can be only adopted to brake, when spacing is greater than the second spacing setting threshold, now also there is longer safe stopping distance between explanation and front truck, brake unit adopts regenerative braking mode to brake, regenerative electric energy is stored in electric capacity, thus saves power consumption.
Resistance braking and regenerative braking complete respectively by dynamic braking unit in Fig. 7 and regenerative braking unit.The metal oxide semiconductor field effect tube MOSFET1 that dynamic braking unit comprises resistance R3 and is connected in series with resistance R3, one end connection signal input end of resistance R1, the other end of resistance R1 connects the grid of MOSFET1, the drain electrode of MOSFET1 is connected the source ground of MOSFET1 with resistance R3, another termination DC bus positive pole of resistance R3, two stabilivolts are with on the drain electrode again negative electrode at two ends being connected on MOSFET1 respectively after anode relative mode serial connection and source electrode, two protection diodes are connected in series with anode relative mode, the negative electrode of one of them protection diode is connected between signal input part and resistance R1, the negative ground of another protection diode, one end of resistance R2 is connected between signal input part and resistance R1, the other end ground connection of resistance R2, for MOSFET1 provides bias voltage.When motor is in motoring condition work, brake unit does not participate in electric machine controller work, and electric machine control conveniently controls to carry out.Motor is in braking mode work, and control chip calculates the electric flux that resistance R3 will consume, and arranges switching frequency and the pulsewidth of brake module power device.The switch of control chip control MOSFET1, carries out PWM control to it, by the energy ezpenditure that produces during motor braking on power resistor R3.Regenerative braking unit comprises multiple reservoir capacitance C of being connected in parallel and transistor V1, V2, transistor V1, V2 are connected in series between DC bus, the collecting electrode of transistor V1 is connected with DC bus positive pole, the emitter of transistor V2 is connected with DC bus negative pole, and one end of reservoir capacitance C connects the collecting electrode of transistor V2 by inductance L 1.Transistor V1, V2 and L1 composition DC/DC translation circuit, in regenerative braking process by the electrical power storage of DC bus in electric capacity C.For mechanical braking, brake unit is connected with magneto-electric machine, brake unit receives the speed-slackening signal of ECU, control magneto-electric machine operates, and magneto-electric machine promotes main hydraulic cylinder piston movement, is worked by hydraulic-driven plate disc brake, thus reach the object of braking, drive hydraulic brake system by magneto-electric machine, main hydraulic cylinder piston movement distance can be controlled by the running controlling motor like this, thus accurate brake-power control can be realized.
More than that automatic Pilot process of the present invention is introduced, in addition, as shown in Figure 9 in the present invention, vehicle also can to detecting battery temperature, battery electric quantity, driver status, front vehicle state, Das Gaspedal state and brake pedal state in real time after entering automatic driving mode.Specifically, when battery temperature is lower than setting value, now start heating arrangement to heat battery, along with the use of battery, battery temperature can progressively rise, in order to prevent battery performance control breakdown, when temperature is greater than the first temperature setting threshold, now output power limit is carried out to battery, its horsepower output is made substantially to keep constant, along with the continuation serviceability temperature of battery can raise further, when being greater than the second temperature setting threshold, now, battery cannot maintain automatic Pilot institute subfam. Spiraeoideae, ECU gives a warning to chaufeur, prompting chaufeur exits automatic driving mode.Driver status detects mainly detect whether there is fatigue driving, such as can judge whether to there is fatigue driving by modes such as number of winks, then give a warning when driver status detecting unit detects fatigue, exit automatic driving mode, concrete, can based on the fatigue detecting of face-image, the state of closing of opening according to human eye obtains the risk that chaufeur is in fatigue driving simultaneously in conjunction with frequency of wink calculates degree of fatigue.Such as, first according to camera collection to the chaufeur face-image in driving compartment, carry out Face detection; Then theoretical according to people's face skin color model, by discoloring, binaryzation scheduling algorithm determination position of human eye; Finally close combinations of states frequency of wink calculate degree of fatigue according to opening of human eye.Based on this degree of fatigue, the risk that chaufeur is in fatigue driving can be obtained.When detecting that chaufeur depresses Das Gaspedal or brake pedal, in response to This move, vehicle exits automatic driving mode.
The detection of front vehicle state is completed by rear CCD and rear radar, and rear CCD is for identifying whether rear exists vehicle, and rear radar is for measuring the speed of a motor vehicle and the spacing of front vehicle.Specifically, when automatic driving mode, when rear CCD recognize there is vehicle in track, rear time, the speed of a motor vehicle of rear radar surveying front vehicle and spacing, according to the speed of a motor vehicle and spacing, rearward chaufeur and Ben Che chaufeur give a warning.Such as when detecting that the spacing of front vehicle and this car is less than setpoint distance and the rear speed of a motor vehicle is greater than preset vehicle speed, now there is the possibility knocked into the back with this car in front vehicle, the then warning indicator lamp (two sudden strain of a muscle) of ECU unlocking vehicle, ECU gives a warning to the chaufeur of this car simultaneously, such as can be given a warning to this car chaufeur by buzzer phone, front vehicle can be pointed out to slow down by this mode, or point out this car chaufeur to dodge, thus avoid the generation of accident.
Set forth a lot of detail in the above description so that fully understand the present invention.But above description is only preferred embodiment of the present invention, the present invention can be much different from alternate manner described here to implement, and therefore the present invention is not by the disclosed concrete restriction implemented above.Any those skilled in the art are not departing under technical solution of the present invention ambit simultaneously, the Method and Technology content of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (10)
1. a vehicle automatic control method, is characterized in that, comprises the following steps:
S100: detect vehicle-state, normally starts vehicle afterwards at detection vehicle-state, drives with conventional type of drive to vehicle;
S200: the driving model receiving setting, judges that the driving model of the setting received is whether as automatic driving mode;
S300: when the driving model set judging to receive is as automatic driving mode, detects battery electric quantity, enter automatic driving mode when battery electric quantity is greater than setting threshold, otherwise continue type of drive driving routinely;
S400: after entering automatic driving mode, identifies track, vehicle velocity V, spacing S;
S500: judge whether front, track exists vehicle, when judging that front, track does not exist vehicle, is set as the best speed of a motor vehicle by current vehicle speed, otherwise performs step S600;
S600: judge whether be greater than spacing setting threshold with front truck spacing;
S700: when judging to be less than spacing setting threshold with car front truck distance, according to current vehicle speed V with front truck spacing S, vehicle is braked;
S800: when judging to be more than or equal to spacing setting threshold with car front truck distance, calculate motor speed given value n ' according to current vehicle speed V with front truck spacing S;
S900: when judging that motor breaks down, exiting automatic driving mode, entering fault drive pattern, described fault drive pattern at least comprises and disconnected to drive mutually.
2. vehicle automatic control method according to claim 1, it is characterized in that, preferably, detect in described step S100 vehicle-state comprise detect accelerator pedal position sensor, brake pedal position sensor, Battery temperature probe, rear CCD, rear car alarm unit, rear radar, front radar, front CCD signal whether normal, and whether accumulator electric-quantity, braking liquid liquid level normal.
3. vehicle automatic control method according to claim 1, is characterized in that identifying track in described step S400, specifically comprises the following steps:
S401: obtain original video image signal by front CCD;
S402: use median filtering algorithm to carry out filtering to original image signal; Due to acquired original to view data there is certain noise, median filtering algorithm is used to carry out denoising to signal, specifically the gray value of each pixel is set to the intermediate value of all pixel gray values in this vertex neighborhood window, the value of any in digital image or Serial No. is replaced with the Mesophyticum of each point value in a neighborhood of this point, allow the actual value that the pixel value of surrounding is close, thus eliminate isolated throat sound point;
S403: to the binary conversion treatment of filtered image, image binaryzation formula is as follows:
Wherein f (x, y) represents input picture, and g (x, y) represents output image, the threshold value selected when T is binary conversion treatment;
S404: extract lane markings line boundary from binary image, specifically it comprises: utilize Laplace operator to carry out edge enhancing to road image, obtain gradient image; In compute gradient image, gray level maxim Imax and minimum value Imin calculates the threshold value To of distinguishing characteristic object and background by formula (2);
To＝(a*Imax+b*Imin)/K(2)
In formula, a is Imax weighted value, and b is Imin weighted value, and K is adjusting thresholds value, wherein a+b=1;
S405: travel through image, realizes image boundary segmentation, utilizes Hough transform to carry out lane identification.
4. vehicle automatic control method according to claim 1, it is characterized in that in described step S500, judging whether front, track exists vehicle, comprise the detection threshold that setting one is less than radar coverage, when detecting less than vehicle in this detection threshold, then judge that its front does not exist vehicle.
5. vehicle automatic control method according to claim 1, is characterized in that also comprising reception navigation information in described step S500, obtains present road Maximum speed limit, the speed of a motor vehicle is set as current road segment Maximum speed limit according to navigation information.
6. vehicle automatic control method according to claim 1, is characterized in that calculating motor speed given value n ' according to current vehicle speed V with front truck spacing S in described step S800, specifically comprises:
S801: obtain current vehicle speed V and with front truck spacing S;
S802: will subtract each other with front truck spacing S and setting spacing Sf, and obtain deviation e1, the safe distance between vehicles set when setting spacing Sf is automatic driving mode;
S802: carry out PID adjustment to deviation e1, subtracts each other adjustment result and current vehicle speed V, obtains deviation e2;
S803: carry out Fuzzy tuning to deviation e2 by fuzzy controller, obtains motor speed given value n ';
S804: driver element according to the running of motor speed given value n ' drive motor, thus adjusts the speed of a motor vehicle of cruising.
7. vehicle automatic control method according to claim 1, is characterized in that described step S900 specifically comprises the following steps:
S901: the first audio amplitude when pre-stored motor normally runs, such as, can gather sound when motor normally runs by the Mike be arranged on motor, extract the information such as the frequency of this aud. snl., amplitude, be stored in memory device;
S902: obtain the second audio amplitude when motor runs, when the number of times that the difference of the second audio amplitude and the first audio amplitude in setting-up time section is greater than the amplitude thresholds of setting is greater than setting value, then judge that motor breaks down, and sends prompting to chaufeur, exits automatic driving mode;
S903: determine whether open phase fault, when being judged to be no, goes to step S904, when being judged to be, goes to step 905;
S904: be judged to be mechanical breakdown, sends parking maintenance prompting to chaufeur;
S905: when being judged to be open phase fault, when rotary speed setting value n ' is higher than faulty condition maximum allowable speed nf, rotary speed setting value n ' is set as nf, when rotary speed setting value n ' is less than or equal to nf, is run by drive unit drives motor according to rotary speed setting value n ', specifically comprise: because phase shortage electric current is zero during fault, now motor will be operated in asymmetric state, suppose that A phase disconnects, then phase current ia=0, ib=-ic, ua=0 event:
Can be calculated accordingly,
When open-phase running, motor rotor position sensor detects motor rotor position θ, the velocity amplitude n detected and rotary speed setting value n ' compares by speed detector, torque given value Te ' is obtained after Negotiation speed pi regulator, current sensor and voltage sensor detect three phase current and magnitude of voltage respectively, detected value is sent into torque and flux observer, torque and flux observer are according to formula (3), (4) α shaft current value i α is calculated respectively, α shaft voltage value U α, β shaft current value i β, β shaft voltage value U β, through type (5), (6) actual torque value Te and stator magnetic linkage Ψ s is calculated, the actual torque value Te calculated and stator magnetic linkage Ψ s respectively with torque given value Te ' and flux linkage set value Ψ s ', compare, difference is after PI regulates, through anti-Park Transformation, obtain α shaft voltage given value U α ', β shaft voltage given value U β '.
8. vehicle automatic control method according to claim 1, is characterized in that described step S700 comprises:
S701: judge whether current vehicle speed is zero, when the speed of a motor vehicle is zero, then starts deceleration of electrons unit, otherwise performs step S702;
S702: judging whether current vehicle is apart from being less than the first spacing setting threshold, when spacing is less than the first spacing threshold value, opening mechanical braking and resistance braking simultaneously, performing step S703 when spacing is greater than the first spacing setting threshold;
S703: judge that current vehicle is apart from whether being less than the second spacing setting threshold, wherein the second spacing setting threshold is greater than the first spacing setting threshold, when spacing is less than the second spacing setting threshold, only adopts mechanical braking, when spacing is greater than the second spacing setting threshold, regenerative braking mode is adopted to brake.
9. vehicle automatic control method according to claim 8, is characterized in that described resistance braking, regenerative braking and mechanical braking complete respectively by dynamic braking unit, regenerative braking unit and mechanical braking unit, the metal oxide semiconductor field effect tube MOSFET1 that wherein said dynamic braking unit comprises resistance R3 and is connected in series with resistance R3, one end connection signal input end of resistance R1, the other end of resistance R1 connects the grid of MOSFET1, the drain electrode of MOSFET1 is connected the source ground of MOSFET1 with resistance R3, another termination DC bus positive pole of resistance R3, two stabilivolts are with on the drain electrode again negative electrode at two ends being connected on MOSFET1 respectively after anode relative mode serial connection and source electrode, two protection diodes are connected in series with anode relative mode, the negative electrode of one of them protection diode is connected between signal input part and resistance R1, the negative ground of another protection diode, one end of resistance R2 is connected between signal input part and resistance R1, the other end ground connection of resistance R2, for MOSFET1 provides bias voltage, described regenerative braking unit comprises multiple reservoir capacitance C of being connected in parallel and transistor V1, V2, transistor V1, V2 are connected in series between DC bus, the collecting electrode of transistor V1 is connected with DC bus positive pole, the emitter of transistor V2 is connected with DC bus negative pole, and one end of reservoir capacitance C connects the collecting electrode of transistor V2 by inductance L 1, described mechanical braking unit is connected with magneto-electric machine, and mechanical braking unit receives the speed-slackening signal of ECU, and control magneto-electric machine running, magneto-electric machine promotes main hydraulic cylinder piston movement, is worked by hydraulic-driven plate disc brake.
10. vehicle automatic control method according to claim 1, characterized by further comprising and detect battery temperature, battery electric quantity, driver status, front vehicle state, Das Gaspedal state and brake pedal state in real time after vehicle enters automatic driving mode; When battery temperature is lower than setting value, now start heating arrangement and heat battery, when temperature is greater than the first setting threshold, now carry out output power limit to battery, when battery temperature is greater than the second setting threshold, ECU gives a warning; Driver status detects mainly detect whether there is fatigue driving, and it to the chaufeur face-image in driving compartment, carries out Face detection according to camera collection; Then theoretical according to people's face skin color model, by discoloring, binaryzation scheduling algorithm determination position of human eye; Finally close combinations of states frequency of wink calculate degree of fatigue according to opening of human eye, based on this degree of fatigue, the risk that chaufeur is in fatigue driving can be obtained; The detection of front vehicle state is completed by rear CCD and rear radar, rear CCD is for identifying whether rear exists vehicle, rear radar is for measuring the speed of a motor vehicle and the spacing of front vehicle, when automatic driving mode, when rear CCD recognize there is vehicle in track, rear time, the speed of a motor vehicle of rear radar surveying front vehicle and spacing, when detecting that the spacing of front vehicle and this car is less than setpoint distance and the rear speed of a motor vehicle is greater than preset vehicle speed, the warning indicator lamp of ECU unlocking vehicle, the chaufeur simultaneously to this car gives a warning.
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