CN106043279A - Lane shift control system based on crosswind influences and control method of lane shift control system - Google Patents

Lane shift control system based on crosswind influences and control method of lane shift control system Download PDF

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Publication number
CN106043279A
CN106043279A CN201610524197.8A CN201610524197A CN106043279A CN 106043279 A CN106043279 A CN 106043279A CN 201610524197 A CN201610524197 A CN 201610524197A CN 106043279 A CN106043279 A CN 106043279A
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China
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vehicle
ecu
crosswind
speed
control system
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CN106043279B (en
Inventor
胡兴军
丁九洋
郭鹏
曹杰汛
杜玮
于旭涛
王靖宇
杨博
董春波
乔银波
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Jilin University
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Jilin University
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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
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
    • 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
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/114—Yaw movement
    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • 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
    • 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
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • 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
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering torque
    • 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
    • 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
    • B60W2520/14—Yaw
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W2710/0616—Position of fuel or air injector
    • 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
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
    • 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
    • B60W2710/30—Auxiliary equipments

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)

Abstract

The invention discloses a lane shift control system based on crosswind influences and a control method of the lane shift control system. The control system is composed of a signal acquisition part, an ECU and an actuator part. Wind speed sensors located on the two sides of a vehicle body are additionally arranged on the signal acquisition part so as to detect the crosswind speed, and the signal output ends of all the components of the signal acquisition part are in control connection with the ECU. The actuator part is composed of an instrument board LED lamp, a hazard warning lamp, a buzzer, a vibrator, an engine throttle valve and a vehicle control system, and the signal input ends of the instrument board LED lamp, the hazard warning lamp, the buzzer, the vibrator, the engine throttle valve and the vehicle control system are in control connection with the ECU. By the adoption of the control method, the influences of crosswind on lane shift are taken into consideration, vehicle speed reduction serves as an active intervention manner, lane shift signals, the response time of a driver and the limit vehicle speed of the vehicle in the crosswind environment are comprehensively considered, and the vehicle speed and the lateral displacement within driver responding and mechanical transmission delay time are reduced.

Description

Lane shift control system based on crosswind impact and control method thereof
Technical field
The invention belongs to automobile assistant driving systems technology field, be specifically related to lane shift based on crosswind impact and control System and control method thereof.
Background technology
In vehicle traveling process, Lane Departure Warning System vehicle will run-off-road alarm, remind driver Revise in time, to improving traffic safety, it is to avoid the vehicle accident caused because of run-off-road is significant.
The Lane Departure Warning System of main flow at present, such as: Lane Departure Warning System, i.e. LDW, although have good Road Identification ability, and can be reported to the police by the form such as sound, vibrations, but the lane shift of vehicle cannot be led by this system Dynamic intervention.
The most such as: track keeps aid system, i.e. LKA, first, although LKA system can be carried out when automotive run-off-road Pro-active intervention, but the reaction in time of driver is not taken into account by it, i.e. carries out at once during automotive run-off-road or repaiies by force Just, and after driver's active reaction, system cannot actively stop intervening, and the active driving behavior to driver forms obstacle；Its Secondary, the makeover process of LKA system is that control system is complex, relatively costly by active steering correcting vehicle body.
Additionally, the impact of vehicle shift is not considered in the middle of control process by LDW system and LKA system by crosswind, Under effect of Side Wind, vehicle can rapid lateral deviation, therefore, the practicality of above-mentioned two system and safety cannot fully meet user need Ask.
Summary of the invention
For technical problem present in prior art, the invention discloses lane shift based on crosswind impact and control system System and control method thereof, with provide one can pro-active intervention, and consider the simpler of effect of Side Wind and time of driver's reaction List and the control system of hommization and control method.In conjunction with Figure of description, technical scheme is as follows:
Lane shift control system based on crosswind impact, is made up of signals collecting part, ECU and executor's part, Described signals collecting part by vehicle speed sensor, air velocity transducer, steering-wheel torque sensor, Lane Departure Warning System and Pressure transducer forms；
Wherein, described air velocity transducer is arranged on vehicle body both sides, to detect crosswind wind speed；Described pressure transducer is arranged on Below vehicle carrying center of gravity, described vehicle speed sensor, air velocity transducer, steering-wheel torque sensor, Lane Departure Warning System And the signal output part of pressure transducer controls to be connected with ECU respectively；
Described executor part is by instrument board LED, hazard warning lamp, buzzer, vibrator, engine air throttle And motor vehicle braking system composition；
Wherein, described hazard warning lamp is installed on outside headstock front, for sending alarm to Facing Movement vehicle Signal, described buzzer is installed on cabin interior, and described vibrator is installed on below pilot set, described instrument board LED The signal input part of lamp, hazard warning lamp, buzzer, vibrator, engine air throttle and motor vehicle braking system is divided equally Do not control to be connected with ECU.
The control method of lane shift control system based on crosswind impact, described control method by crosswind to lane shift Impact take into account, and to reduce car speed as pro-active intervention mode, to driver's active correction offset lanes time Between, return positive vehicle in time；Concrete control method is as follows:
Step one: ECU, by the GES collected, analyzes and judges whether speed is more than systemic presupposition value, as greatly In, then system is opened；
Step 2: ECU, by the pressure sensor signal collected, analyzes and judges the loaded state of vehicle, the most really Fixed unloaded parameter and fully loaded parameter；
The deviation signal that step 3: ECU is collected by Lane Departure Warning System, it is judged that whether track is in partially From state, such as deviation, then enter next step, as track without departing from, then circulate this step；
Step 4: ECU, with vehicle bearing parameter, crosswind wind speed as influence factor, analyzes and judges vehicle speed now Whether more than the limit speed under current working
Step 5: A. is when vehicle ECU judges that now speed is more than limit speed:
(1) ECU sends and performs order, and panic alarm lamp is opened, buzzer warning, vibrator open vibration, instrument board LED Lamp is bright, and brake system is directly braked with default pressure, vehicle deceleration；
(2) the deviation signal that ECU continues according to gathering judges whether vehicle is in deviation state；
(3) it is still within deviation state when vehicle, the signal of the ECU steering-wheel torque sensor by gathering, sentence Whether disconnected driver has the behavior revising run-off-road；The behavior not revising run-off-road such as driver then carries out above-mentioned steps (1)；Driver have the behavior revising run-off-road then release as described in buzzer and vibrator alarm, and release braking, emergent Warning light is held open, and proceeds above-mentioned steps (2)；
When vehicle is not at deviation state, then release described buzzer alarm and vibrator alarm, panic alarm lamp Closing, and release braking, engine air throttle normally works, and system controls to terminate；
B. when vehicle ECU judges that now speed is not more than limit speed；
(1) buzzer warning, ECU internal timer starts timing；
(2) when exceeding the default response time when timer, vehicle ECU according to the signal of steering-wheel torque sensor, Judge whether driver has the behavior revising run-off-road；
(3) not revising the behavior of run-off-road as driver, vehicle ECU sends finger to vibrator and engine air throttle Order, vibrator starts vibration, and engine throttled back, vehicle deceleration, and circulates this step；When driver has correction deviation The behavior in track, all clear, engine air throttle normally works, and whether detection vehicle deviation occurs further, when Vehicle is not at vehicle deviation state, and system controls to terminate；
The control method of lane shift control system based on crosswind impact, wherein, the described default effect of Side Wind time For 1.5s, the preset value of described lateral displacement is 0.5m.
The control method of lane shift control system based on crosswind impact, wherein, in described step one, system is to speed Preset value be 60km/h；
The control method of lane shift control system based on crosswind impact, wherein, in described step 5, as vehicle ECU Judging when now speed is not more than limit speed, in timer, the default response time is 0.8s.
Compared with prior art, the beneficial effects of the present invention is:
1, the present invention is by effect of Side Wind in view of in the middle of lane shift control process, more meets user practical to vehicle Property and the requirement of safety.
2, the present invention has considered deviation signal, the response time of driver and vehicle under crosswind environment Limit speed, when driver makes correction reaction or automobile in crosswind environment the most at the appointed time to exceed secure threshold Higher speed lateral deviation time, system, to slow down as in the way of pro-active intervention, reduces driver's reaction and machine driving is sluggish Speed in time and lateral displacement, in order to just returning in time after driver's reaction.
3, the present invention is detecting that driver has correction reaction, when i.e. steering-wheel torque sensor has signal, pro-active intervention Stopping immediately, vehicle travels according to the wish of driver, and the active not interfering with driver is driven.
4, the system of the present invention and control method simple and flexible, it is easy to popularization and application.
Accompanying drawing explanation
Fig. 1 is the structure composition frame chart of lane shift control system based on crosswind impact of the present invention；
Fig. 2 is the control method FB(flow block) of lane shift control system based on crosswind impact of the present invention.
Detailed description of the invention
As it is shown in figure 1, the invention discloses lane shift control system based on crosswind impact, this system is by signals collecting Partly, ECU and executor's part composition.Wherein, described signals collecting part by vehicle speed sensor, air velocity transducer, turn to Dish torque sensor, Lane Departure Warning System and pressure transducer composition, described air velocity transducer is arranged on vehicle body both sides, For detecting the crosswind wind speed under vehicle local environment；Described pressure transducer is arranged on below vehicle carrying center of gravity, is used for examining The carrying situation of measuring car.
Described vehicle speed sensor, air velocity transducer, steering-wheel torque sensor, Lane Departure Warning System and pressure pass The signal output part of sensor controls to be connected with ECU respectively, respectively by GES, crosswind wind velocity signal, steering-wheel torque letter Number, deviation signal and vehicle carrying signal send to ECU, and by ECU be analyzed judgement.
Described executor part is by instrument board LED, hazard warning lamp, buzzer, vibrator, engine air throttle And motor vehicle braking system composition, described instrument board LED is for carrying out visual alarm, described danger warning to driver Flash lamp is installed on outside headstock front, and for Facing Movement vehicle signal an alert, described buzzer is installed on driving Chamber interior, for carrying out alarm acoustically to driver, described vibrator is installed on below pilot set, for driving Member carries out the alarm in sense of touch.
Described instrument board LED, hazard warning lamp, buzzer, vibrator, engine air throttle and car braking The signal input part of system controls to be connected, to perform the execution order that ECU sends with ECU respectively.Described engine air throttle Realize under control of the ecu with motor vehicle braking system being turned on and off, to realize the retarding braking to vehicle or to release braking.
As in figure 2 it is shown, the invention also discloses the control method of lane shift control system based on crosswind impact, described The impact of lane shift is taken into account by method by crosswind, and using reduction car speed as pro-active intervention mode, to driver The time of active correction offset lanes, return positive vehicle in time.Concrete control method is as follows:
1, vehicle ECU is by the GES collected, and analyzes and judges whether speed is more than systemic presupposition value 60km/h, Such as larger than, then system is opened.
2, vehicle ECU is by the pressure sensor signal collected, and analyzes and judges the loaded state of vehicle, and pass through journey Sequence calculates and determines unloaded parameter and fully loaded parameter respectively.
3, the deviation signal that vehicle ECU is collected by Lane Departure Warning System LDW, it is judged that whether track is in Deviation state, such as deviation, then enters next step；As track without departing from, then circulate this step.
4, vehicle ECU is with vehicle bearing parameter, crosswind wind speed as influence factor, analyzes and judges that vehicle speed now is No more than the limit speed under current working.Judge process is as follows:
First, vehicle side pathogenic wind dynamic characteristic is carried out numerical simulation, determine pneumatic six square phase coefficient and the function of side drift angle Relation, i.e. crosswind aerodynamic characteristic curve；
Method particularly includes: calculate vehicle not based on aggregate velocity method and hydrodynamic simulation software STAR-CCM+ With the pneumatic six square phase coefficient under speed and crosswind wind speed, for eliminating the fluctuating error of numerical simulation, meet dynamics simulation Requirement, based on numerical simulation data and the method for fitting of a polynomial, has obtained the functional relationships of pneumatic six square phase coefficient and side drift angle System, and contrasts matched curve with initial data, if matched curve can preferably overlap with initial data, then and can be in order to Set up Aerodynamics Model with matched curve, otherwise need matching again, until the two can preferably overlap.
The characteristic curve being then based on TruckSim/CarSim software and vehicle sets up the kinetic model of car load, including The modeling of aerodynamic system modelling, carbody modeling, driving system, steering modeling, brakes modeling and power transmission System modelling, arranges emulation crosswind wind speed and speed, obtains in Simple Crosswind Test model the most in software Under different speeds, the lateral displacement of vehicle and lateral acceleration are with the change curve of crosswind wind speed, utilize rollover test stand or reason Opinion formula is calculated the rollover threshold of vehicle, take empty full carry the lateral displacement after the default effect of Side Wind time under parameter with And lateral acceleration, with lateral displacement less than preset value, it is standard that lateral acceleration is less than rollover threshold, determines under different wind speed Limit speed；
Finally, with current crosswind wind speed as parameter, determine the limit speed under current crosswind wind speed, and enter with current vehicle speed Row contrast.
5, vehicle ECU sends according to vehicle speed condition and performs order
A. when vehicle ECU judges that now speed is more than limit speed；
(1) vehicle ECU sends and performs order, and panic alarm lamp is opened, buzzer warning, vibrator open vibration, instrument Plate LED is bright, and brake system is directly braked with default 0.3MPa pressure, vehicle deceleration；
(2) the deviation signal that vehicle ECU continues according to gathering judges whether vehicle is in deviation state；
(3) it is still within deviation state when vehicle, the signal of the ECU steering-wheel torque sensor by gathering, sentence Whether disconnected driver has the behavior revising run-off-road；The behavior not revising run-off-road such as driver then carries out above-mentioned steps (1)；Driver have the behavior revising run-off-road then release as described in buzzer and vibrator alarm, and release braking, emergent Warning light is held open, and proceeds above-mentioned steps (2)；
When vehicle is not at deviation state, then release described buzzer alarm and vibrator alarm, panic alarm lamp Closing, and release braking, engine air throttle normally works by throttle sensor signal, and system controls to terminate；
B. when vehicle ECU judges that now speed is not more than limit speed；
(1) buzzer warning, ECU internal timer starts timing；
(2), when exceeding default response time 0.8s when timer, vehicle ECU is according to the letter of steering-wheel torque sensor Number, it is judged that whether driver has the behavior revising run-off-road；
(3) not revising the behavior of run-off-road as driver, vehicle ECU sends finger to vibrator and engine air throttle Order, vibrator starts vibration, and engine throttled back, vehicle deceleration, and circulates this step, until driver revises deviation Track；When driver has the behavior of correction run-off-road, and all clear, it is normal that engine air throttle presses throttle sensor signal Work, and whether detection vehicle there is deviation further, when vehicle is not at vehicle deviation, and system controls to terminate.

Claims (5)

1. lane shift control system based on crosswind impact, is made up of signals collecting part, ECU and executor's part, its It is characterised by:
Described signals collecting part is by vehicle speed sensor, air velocity transducer, steering-wheel torque sensor, Lane Departure Warning System And pressure transducer composition；
Wherein, described air velocity transducer is arranged on vehicle body both sides, to detect crosswind wind speed；Described pressure transducer is arranged on vehicle Carrying center of gravity below, described vehicle speed sensor, air velocity transducer, steering-wheel torque sensor, Lane Departure Warning System and The signal output part of pressure transducer controls to be connected with ECU respectively；
Described executor part by instrument board LED, hazard warning lamp, buzzer, vibrator, engine air throttle and Motor vehicle braking system forms；
Wherein, described hazard warning lamp is installed on outside headstock front, is used for Facing Movement vehicle signal an alert, Described buzzer is installed on cabin interior, and described vibrator is installed on below pilot set, described instrument board LED, danger Danger hazard warning flasher, buzzer, vibrator, engine air throttle and motor vehicle braking system signal input part respectively with ECU controls to connect.
2. the control method of the lane shift control system affected based on crosswind as claimed in claim 1, it is characterised in that:
The impact of lane shift is taken into account by described control method by crosswind, and to reduce car speed as pro-active intervention side Formula, to the time of driver's active correction offset lanes, returns positive vehicle in time；Concrete control method is as follows:
Step one: ECU, by the GES collected, analyzes and judges whether speed is more than systemic presupposition value, such as larger than, then System is opened；
Step 2: ECU, by the pressure sensor signal collected, analyzes and judges the loaded state of vehicle, determine sky respectively Carry parameter and fully loaded parameter；
The deviation signal that step 3: ECU is collected by Lane Departure Warning System, it is judged that whether track is in deviation shape State, such as deviation, then enters next step, as track without departing from, then circulate this step；
Step 4: ECU, with vehicle bearing parameter, crosswind wind speed as influence factor, analyzes and whether judges vehicle speed now More than the limit speed under current working
Step 5: A. is when vehicle ECU judges that now speed is more than limit speed:
(1) ECU sends and performs order, and panic alarm lamp is opened, buzzer warning, vibrator open vibration, instrument board LED Bright, and brake system is directly braked with default pressure, vehicle deceleration；
(2) the deviation signal that ECU continues according to gathering judges whether vehicle is in deviation state；
(3) it is still within deviation state when vehicle, the signal of the ECU steering-wheel torque sensor by gathering, it is judged that drive Whether the person of sailing has the behavior revising run-off-road；The behavior not revising run-off-road such as driver then carries out above-mentioned steps (1)； Driver have the behavior revising run-off-road then release as described in buzzer and vibrator alarm, and release braking, panic alarm Lamp is held open, and proceeds above-mentioned steps (2)；
When vehicle is not at deviation state, then releasing described buzzer alarm and vibrator alarm, panic alarm lamp is closed, And releasing braking, engine air throttle normally works, and system controls to terminate；
B. when vehicle ECU judges that now speed is not more than limit speed；
(1) buzzer warning, ECU internal timer starts timing；
(2), when exceeding the default response time when timer, vehicle ECU is according to the signal of steering-wheel torque sensor, it is judged that Whether driver has the behavior revising run-off-road；
(3) not revising the behavior of run-off-road as driver, vehicle ECU sends instruction to vibrator and engine air throttle, Vibrator starts vibration, and engine throttled back, vehicle deceleration, and circulates this step；When driver has correction deviation car The behavior in road, all clear, engine air throttle normally works, and whether detection vehicle deviation occurs further, works as car Being not at vehicle deviation state, system controls to terminate.
3. the control method of the lane shift control system affected based on crosswind as claimed in claim 2, it is characterised in that:
The described default effect of Side Wind time is 1.5s, and the preset value of described lateral displacement is 0.5m.
4. the control method of the lane shift control system affected based on crosswind as claimed in claim 2, it is characterised in that:
In described step one, system is 60km/h to the preset value of speed.
5. the control method of the lane shift control system affected based on crosswind as claimed in claim 2, it is characterised in that:
In described step 5, when vehicle ECU judges that now speed is not more than limit speed, in timer, the default response time is 0.8s。
CN201610524197.8A 2016-07-06 2016-07-06 The lane shift control system and its control method influenced based on crosswind Expired - Fee Related CN106043279B (en)

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