CN109664881A - A kind of emergency turn auxiliary driving method, system and electronic equipment - Google Patents
A kind of emergency turn auxiliary driving method, system and electronic equipment Download PDFInfo
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- CN109664881A CN109664881A CN201910017305.6A CN201910017305A CN109664881A CN 109664881 A CN109664881 A CN 109664881A CN 201910017305 A CN201910017305 A CN 201910017305A CN 109664881 A CN109664881 A CN 109664881A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
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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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—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
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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
- B60W2510/18—Braking system
- B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
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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
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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Abstract
The present embodiments relate to a kind of emergency turn auxiliary driving method, system and electronic equipments.Method includes: in response to detecting that vehicle has the risk collided with front obstacle, the first avoidance path of planning evacuation front obstacle；For the first avoidance path of planning, steering moment is calculated；And the steering moment of calculating is based on predetermined allocation strategy and is distributed between motor vehicle braking system and wheel steering system, so that motor vehicle braking system and wheel steering system cooperating are to realize Vehicular turn indicated by steering moment.Embodiment also provides the secondary steering assistance of demand progress for considering that vehicle is returned from lane when carrying out avoidance.The embodiment of the present invention considers a variety of traveling insecurity factors when emergency turn triggering, it is cooperated using Vehicle Stability System and steering system, vehicle safety performance is improved, and realizes the demand that the vehicle safety when carrying out avoidance effectively quickly returns to former traveling lane.
Description
Technical field
Present invention relates in general to field of vehicle control, and in particular to a kind of emergency turn auxiliary driving method, system and
Electronic equipment.
Background technique
It is currently mostly that vehicle braking is made by automatic emergency brake system for the barrier that road ahead occurs, with
Prevent the collision with front obstacle.However, there are many deficiencies for such system under Chinese transportation complex road condition.Especially
Under following some operating conditions, frontal collisions are avoided only by braking, the generation that always can not effectively avoid collision, and
Driver's experience sense can be made very poor simultaneously.These operating conditions are such as excessively high from vehicle travel speed, and short distance can not stop completely to stop；From vehicle
Not high with front vehicles or barrier overlapping region, driver more wants to hide by turning to；On expressway, promptly made from vehicle
Dynamic brake stops be easy to causeing car rear-end；In emergency circumstances, the unconscious steering of driver causes automatic emergency brake system unavailable
Etc..It is expected that providing the scheme that can safely and effectively carry out vehicle emergency turn based on avoid-obstacle behavior.
Summary of the invention
In view of the above-mentioned problems, the embodiment of the present invention provides a kind of emergency turn auxiliary driving method, system and electronics
Equipment, safely and effectively steering assistance when realizing urgent avoidance, improves safety and the comfort of vehicle driving.
In the first aspect of the present invention, a kind of emergency turn auxiliary driving method is provided.This method comprises: in response to detection
There is the risk collided with front obstacle, the first avoidance path of planning evacuation front obstacle to vehicle；For planning
First avoidance path calculates steering moment；And the steering moment of calculating is based on predetermined allocation strategy in motor vehicle braking system
It is distributed between wheel steering system, so that motor vehicle braking system and wheel steering system cooperating are to realize steering moment institute
The Vehicular turn of instruction.
In certain embodiments, the first avoidance path of planning evacuation barrier includes: to be based on being visited by environment sensor
The information of the front obstacle measured calculates the lateral distance range that vehicle avoids front obstacle and can move；Based on vehicle
Lateral velocity and transverse acceleration and the lane line to be detected by environment sensor as constraint condition, calculate vehicle
Target position and lateral distance；And it is based on target position and lateral distance, determine the first avoidance path.
In certain embodiments, method further include: based on by environment sensor detected in the first avoidance path side
Environmental information, it is determined whether there are potential barriers；In response to there are potential barriers, the track of potential barrier is predicted；
Track based on prediction, determine vehicle in the first avoidance path whether with potential barrier there are risk of collision；And response
In there are risk of collision, plan that vehicle avoids the other avoidance path of front obstacle.
In certain embodiments, method further include: calculate the collision time of front obstacle and vehicle, collision time indicates
Vehicle currently arrives the period that will be collided；And it is less than first threshold in response to collision time, whether detection driver has
It is intended to avoid the steering of front obstacle.
In certain embodiments, it includes: obtained more for the first evacuation track described in discretization for calculating steering moment
A tracing point, using the rear shaft center position of vehicle and car body the course angle rear axle speed current as system state amount, vehicle and
Front wheel angle establishes Trajectory Tracking Control model as input quantity；And the current trace points for the first avoidance path, pass through
Trajectory Tracking Control model adjusts the front wheel angle and speed of vehicle, calculates the current desired steering moment of vehicle.
In certain embodiments, the steering moment of calculating predetermined allocation strategy is based on to turn in motor vehicle braking system and vehicle
To between system distribution include: based on the current desired steering moment of vehicle and to keep predetermined slip rate as constraint condition,
Calculate the brake pressure respectively taken turns for being applied to vehicle；Calculate the additional steering force that differential braking generates under the brake pressure of each wheel
Square；Steering moment needed for being less than current vehicle in response to additional steering moment calculates front wheel angle to meet current vehicle institute
The steering moment needed；And the brake pressure respectively taken turns calculated is transmitted to motor vehicle braking system and is transmitted to wheel steering system
The front wheel angle calculated, so that the motor vehicle braking system and wheel steering system cooperating are to realize Vehicular turn.
In certain embodiments, method further include: determine whether vehicle reaches the last tracing point of multiple tracing points；And
In response to not reaching the last tracing point of multiple tracing points, for next tracing point, steering moment needed for calculating vehicle.
In certain embodiments, method further include: return to original in response to detecting that driver has from the first avoidance path
The return of traveling lane is intended to, and planning avoids the second avoidance path of former traveling lane barrier；For the second evacuation of planning
Path calculates steering moment；And the steering moment of calculating is based on predetermined allocation strategy in motor vehicle braking system and vehicle
It is distributed between steering system, so that motor vehicle braking system and wheel steering system cooperating are to realize indicated by the steering moment
Vehicular turn.
In the second aspect of the present invention, a kind of emergency turn DAS (Driver Assistant System) is provided.The system includes: that electronic control is single
Member executes operation information based on vehicle environmental information and vehicle drive to plan the avoidance path of evacuation front obstacle, meter
Steering moment needed for calculating control vehicle tracking avoidance path；Unit is coordinated and managed, receiving from electronic control unit includes meter
The steering of the steering moment of calculation is requested, and the steering moment of calculating is based on predetermined allocation strategy in motor vehicle braking system and vehicle
It is distributed between steering system, so that motor vehicle braking system and wheel steering system cooperating are to realize indicated by steering moment
Vehicular turn；Vehicle stability controlled system will be converted into each wheel from the coordinated management received distribution steering moment of unit
Pressure of wheel braking cylinder, and control each wheel differential braking；And wheel steering system, it will turn from the received distribution of coordinated management unit
It is applied at Vehicular turn executive device to torque and realizes Vehicular turn to change front wheel angle.
In certain embodiments, system further include: environmental detection device detects road environment to obtain road ring
Border information；And drive and execute detection device, operation is executed to the driving for driving execution unit and is sensed.
In the third aspect of the present invention, a kind of electronic equipment is provided, comprising: processor；And it is stored with the storage of instruction
Device, instruction promote equipment to execute described method according to a first aspect of the present invention when being executed by processor.
The embodiment of the present invention considers that it is dangerous vehicle body unstability etc. caused by negative understeer occur for vehicle when emergency turn triggering
Factor is cooperated using Vehicle Stability System and steering system, improves vehicle safety performance, and when carrying out avoidance, is examined
Consider the secondary steering assistance of demand progress that vehicle is returned from lane, safely and effectively realizes the demand that vehicle quickly returns.
Detailed description of the invention
Fig. 1 shows the schematic block diagram of emergency turn DAS (Driver Assistant System) according to an embodiment of the invention；
Fig. 2 shows the flow charts of emergency turn auxiliary driving method according to an embodiment of the invention；
Fig. 3 shows the schematic diagram of adjacent lane avoidance scene according to an embodiment of the invention；
Fig. 4 shows showing for the infeasible scene of adjacent lane avoidance planning path according to an embodiment of the invention
It is intended to；
Fig. 5 shows the flow chart of track following process according to an embodiment of the invention；
Fig. 6 shows the schematic diagram that vehicle according to an embodiment of the invention returns to former lane avoidance scene；And
Fig. 7 shows the flow chart that vehicle according to an embodiment of the invention returns to former lane avoidance process.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.But as known to those skilled in the art, the invention is not limited to attached drawings and following reality
Apply example.
As described herein, term " includes " and its various variants are construed as open-ended term, it means that " packet
It includes but is not limited to ".Term "based" is construed as " being based at least partially on ".Term " one embodiment " it is understood that
For " at least one embodiment ".Term " another embodiment " is construed as " at least one other embodiment ".
As previously mentioned, the current vehicle of volume production on the market usually passes through automatic emergency brake system and makes vehicle braking, to prevent
Only with the collision of front obstacle, safe and reliable emergency turn miscellaneous function is not implemented.Due to motor vehicle braking system and biography
The performance of sensor limits, and causes under partial picture vehicle that can not cope with the risk of collision that front occurs by braking, and if
It is assisted by steering system merely, it is excessive and lead to vehicle unstability to will lead to vehicle lateral acceleration, sliding, whipping occurs
Etc. unstabilitys operating condition.In addition, most of vehicle does not consider that vehicle is returned from the demand in lane when carrying out avoidance.
In view of this, the emergency turn auxiliary driving scheme that the embodiment of the present invention proposes at least solves as above these and asks
Topic.The embodiment of the present invention is further described with reference to the accompanying drawing.
Fig. 1 shows the schematic diagram of emergency turn DAS (Driver Assistant System) 100 according to an embodiment of the invention, system
100 can be a part of discussed vehicle.As shown, system 100 includes the electronic control unit as master control unit
(ECU, Electronic Control Unit) 110, environmental detection device 120 drive execution detection device 130, coordinated management
Unit 140 and vehicle stability controlled system 150 and wheel steering system 160.
Environmental detection device 120 may include the sensor-based systems such as vehicle-mounted camera, millimetre-wave radar, carry out to road environment
Detection.When the barriers such as vehicle or pedestrian occurs in discovery front, lateral velocity, the acceleration, wheel of front obstacle are detected
The information such as exterior feature, and the other environmental information such as lane line of detection adjacent lane.Environmental detection device 120 also detects nearby vehicle
Or speed, acceleration, the clearance light information of barrier.
Driving and executing detection device 130 may include that the execution operation of the driving to components such as steering wheel, brakes is felt
Device of survey, such as torque/rotary angle transmitter etc..Torque/rotary angle transmitter can detect the torque for being applied to steering wheel end or
Person's corner, and then it is possible thereby to judge whether driver has steering to be intended to.
According to embodiments of the present invention, ECU 110 executes the control processing that emergency turn auxiliary drives function.It is as follows will
Detailed description, carry out avoidance path planning, tracking, control vehicle needed for steering moment, and to coordinated management unit
140 send steering request.
Coordinating and managing unit 140 may include such as Automotive Dynamic Integrated Management System (VDIM, Vehicle Dynamics
Integrated Management) or its a part that also can be implemented as ECU 110.Unit 140 is coordinated and managed to manage
The braking and steering system of vehicle, after receiving the steering request including steering moment from ECU 110, according to system
Steering moment request is decomposed braking system and steering system by 100 management strategy, carries out path trace, controls vehicle stabilization
Property system 150 and 160 cooperative achievement vehicle of wheel steering system turned to according to the avoidance path of planning, and guarantee vehicle driving
Safety.
Vehicle stability controlled system 150 may include the hydraulic actuating that vehicular four wheels are carried out with active brake hydraulic pressurization
The components such as device control the motor vehicle braking system for including brake.Vehicle stability systems 150 will be single from coordinated management
First 140 received braking moments are converted into each pressure of wheel braking cylinder, while controlling each tyre skidding rate to guarantee that vehicle will not be embraced
Dead or unstability, reaches the stability for ensuring vehicle driving.
Wheel steering system 160 may include such as electronic power assist steering system, will receive from coordinated management unit 140
Steering moment or corner be applied to Vehicular turn executive device (such as steering wheel) and hold and to change front wheel angle realize vehicle
It turns to.
It is appreciated that system described above 100 is only illustrative, the embodiment of the present invention for ease of description, not
The other component of system 100 is specifically illustrated and describes, in order to avoid unnecessarily obscure the aspect of the embodiment of the present invention.
Driving scheme is assisted below with reference to the emergency turn that the system 100 in Fig. 1 describes embodiment according to the present invention.Figure
2 show the flow chart of emergency turn auxiliary driving method 200 according to an embodiment of the invention.
In 210, in response to detecting that vehicle has the risk collided with front obstacle, planning evacuation front obstacle
First avoidance path.
It in one embodiment, can be following to determine whether in the presence of the risk collided with front obstacle.ECU 110
The relative velocity of the vehicle detected according to environmental detection device 120 at a distance from front obstacle and between the two, calculating will
The collision time (TTC, Time to Collision) to collide, TTC indicate that vehicle currently arrives the period that will be collided.
When TTC is less than some threshold value, it is believed that front will have collision, can plan keeping away for evacuation front obstacle at this time
It allows path (referred to as the first avoidance path).Whether detection driver has steering to be intended to.
According to one embodiment of present invention, for vehicle driving safety the considerations of, the embodiment of the present invention propose urgent
Steering assistance drives scheme and plays driving booster action, therefore considers that driver is actively entered certain turn when there are risk of collision
This function is activated to torque.In other words, it when detecting that there is driver the steering of evacuation front obstacle to be intended to, is kept away
Allow the planning of track.ECU 110 can execute such as steering wheel angle of detection device 130 or torque sensor spy according to driving
The data measured, judge whether driver compares peremptorily active steering input at this time.When judgement turning there are driver's active
To wish, start to plan avoidance path.
3 planning process for describing avoidance path with reference to the accompanying drawing.Fig. 3 shows according to an embodiment of the invention
The schematic diagram of adjacent lane avoidance scene 300.As shown, the vehicle 310 travelled on multiple-lane road 330 is discussed
There is barrier 320 in vehicle, front.The barrier 320 can be movement or non-athletic vehicle or other objects.
When the ECU 110 of vehicle 310 judges colliding with barrier 320, ECU 110 obtains environment detection dress
It sets 120 and detects the width of barrier 320, distance, lateral acceleration information, based on Kalman filtering to the target of vehicle 310
Driving trace predicted, can move lateral distance range in the case of obtaining vehicle 310 and capable of avoiding barrier 320.As
Example, ECU 110 can determine the minimal transverse distance S that vehicle 310 can movey-min。
Further, using lane line as constraint condition, and added with the lateral velocity of the vehicle of acquisition 310 itself, transverse direction
Velocity information is reference, and the position target point P2 is calculated and needs mobile lateral distance SY.In one embodiment, will
The current location point P1 of vehicle 310 establishes avoidance path between starting point P1 and target point P2 as starting point.In another reality
It applies in example, track is gone out by best-first search algorithmic rule between starting point P1 and target point P2 according to the theory of optimal control
340 are used as avoidance path, as shown in the figure.
In one embodiment, if occurring or will occurring other obstacles in the avoidance path 340 that ECU 100 is planned
Object, namely when may collide with other barriers, then it is assumed that the path 340 of planning is infeasible, can plan vehicle at this time
The other avoidance path of evacuation front obstacle exits emergency turn auxiliary and drives process.
Fig. 4 shows the infeasible scene 400 of adjacent lane avoidance planning path according to an embodiment of the invention
Schematic diagram.In the present embodiment, first barrier 410 (i.e. barrier 320) planning of the ECU 110 for 310 front of vehicle
Out avoid track 340, but ECU 100 from environmental detection device 120 detect its plan avoidance path on there are second
Barrier 420.At this time ECU 110 can the travel track in a similar manner to the second barrier 420 predict.It is specific and
Speech, using the information such as width, lateral velocity, the transverse acceleration of the second barrier 420 detected be based on Kalman filtering into
The prediction of row quantity of state calculates the prediction locus 430 of the second barrier 420.When judging that track 430 will send out with track 340
When raw collision conflict, determine that planned trajectory 340 is infeasible.If collision conflict or other barriers will not will not will occur
Hinder object, i.e., the possibility occurred without any collision, it is determined that planning path 340 is feasible.
Fig. 2 is returned to, after cooking up avoidance path, then 220, for the avoidance path of planning, calculates steering force
Square.In one embodiment, planning is kept away based on Model Predictive Control (MPC, Model Predictive Control)
It allows path to implement tracking, and then realizes vehicle emergency turn.
ECU 110 establishes Trajectory Tracking Control model and calculates steering moment, to carry out track following.In the present embodiment
In, using rear shaft center's coordinate position of vehicle and car body course angle as system state amount, with vehicle rear axle speed and preceding rotation
Trajectory Tracking Control model is established as input quantity in angle.
It is located under earth-fixed axis system OXY, dynamics of vehicle equation can be expressed as following formula (1):
Wherein, (x, y) is vehicle rear axle centre coordinate,For car body course angle, δ is front wheel angle, and v is vehicle rear axle speed
Degree, l is vehicle wheelbase.
It is u (v, δ) and quantity of state that the Trajectory Tracking Control process, which can be counted as input, as a result,Control system
System, kinematical equation can indicate are as follows:
Meanwhile according to the avoidance path currently cooked up, the kinematical equation for meeting the avoidance path can be obtained are as follows:
The trajectory error model of vehicle is obtained by above formula (2) and (3), to the error model carry out sliding-model control obtain with
The Controlling model of track tracing point are as follows:
In formula:
T is sampling time interval.
In order to be guaranteed at the vehicle of unmanned state quickly and smoothly track desired trajectory, need to be added to system
The optimization of the deviation and control amount of quantity of state.The objective function of following form can be used:
Wherein, Q and R is weight matrix.
By solving the optimal solution of formula (5) objective function, control input increment Delta u (Δ v, Δ δ) is obtained, wherein Δ δ is
The current desired front wheel angle of trajectory track is carried out for vehicle, and then obtains corresponding steering moment.In other words, before by control
Steering moment needed for wheel corner and speed calculate current vehicle passes to coordinated management unit 140 and carries out steering moment
Distribution.
It should be appreciated that according to an embodiment of the invention, ECU 110 obtains the avoidance path sliding-model control of planning more
A discrete loci point dynamically calculates the current desired steering moment of vehicle 310 point by point, so that vehicle 310 tracks avoidance path
340 and advance.
230, by the steering moment of calculating be based on predetermined allocation strategy motor vehicle braking system and wheel steering system it
Between distribute so that motor vehicle braking system and wheel steering system cooperating are to realize Vehicular turn indicated by steering moment.
According to an embodiment of the invention, the allocation strategy may include: that more brakings need less steering, more
It turns to and needs less braking；And braking is paid the utmost attention to.ECU 110 is according to based on the current road conditions that sensor detects
The slip rate of current wheel movement is calculated, and is controlled at predetermined slip rate (for example, optimal slip rate), namely preferentially with control
Wheel slip is constraint condition.If the steering moment that differential braking generates at this time is less than calculated target shift torque, this
When control wheel steering system intervention, realize unsatisfied additional steering moment by changing front wheel angle.
Specifically, ECU 100 works as according to the vehicle calculated 220 for each discrete loci point in avoidance path
Preceding required steering moment calculates the brake pressure respectively taken turns for being applied to vehicle based on current road surface optimal slip rate, and
Calculate the additional steering moment that vehicle differential braking generates under the brake pressure of each wheel.If the additional steering that differential braking generates
Steering moment needed for torque is less than current vehicle calculates the front wheel angle for controlling wheel steering system operation then to meet
Steering moment needed for current vehicle.
The brake pressure that vehicle stability systems 150 are indicated according to coordinated management unit 140, applies each wheel of vehicle
Add different pressure of wheel braking cylinder to be braked, guarantees that wheel not by locking, i.e., controls the sliding of wheel simultaneously while braking
Rate is turned to by generating additional steering moment to realize.Wheel steering system 160 can pass through after receiving steering moment request
Electronic power assist steering system executes steering assistance.
By the operation in frame 220 and 230, vehicle tracks the avoidance path/track cooked up.It should be understood that
Track following is the continuous process of dynamic.ECU 110 judges current goal rail according to the sensor information that real-time reception arrives
Whether mark reaches, i.e., whether the track currently tracked is the last one point on track, if not then choosing next on track
Point continues to calculate the steering moment that pursuit path needs, if the last one point of track can then terminate emergency turn auxiliary and drive
Cross journey.
More specifically, Fig. 5 shows the flow chart of track following process 500 according to an embodiment of the invention.Such as
Shown in figure, process 500 starts 501, has got the avoidance path of planning.Then 503, avoidance path track is discrete
Change, obtains multiple discrete points.505, the first discrete point on track is chosen, is then fallen into a trap according to the frame 220 in method 200
The steering moment of calculating and the steering moment distributed in frame 230 to braking system and steering system, based on MPC control come with
Discrete point on track track.Then 509, judge whether current location has arrived at the last discrete point on track, if it is
Then track following process 500 terminates 511, if it is not, then choosing next discrete point on track 513, and jumps to 507,
The track following to the discrete point is continued to execute, until reaching the last discrete point on track.
Further, comprehensively consider the test method of current " elk test ", it can be seen that when vehicle avoids front barrier
When hindering object, it is desirable to which vehicle quickly returns to former lane.In view of this, the embodiment of the present invention, which also passes through, coordinates intact stability control
System processed and wheel steering system, which work at the same time, makes vehicle return to former travel.
Fig. 6 shows the schematic diagram that vehicle according to an embodiment of the invention returns to former lane avoidance scene 600.Such as
Shown in figure, after 310 successful emergency of vehicle has avoided barrier 320, the ECU 110 of vehicle 310 can be returned according to driver
The wish of former lanes is cooked up the avoidance path 610 of avoiding barrier 320, and is distributed by coordinated management unit 140
Braking and steering request torque, to realize that vehicle 310 returns to former lane along track 610.
Vehicle, which is described, below by Fig. 7 combination scene 600 returns to former lane avoidance process.Fig. 7 is shown according to the present invention
The vehicle of one embodiment return to the flow chart of former lane avoidance process 700.
Process 700 starts 701, after 310 successful emergency of vehicle has avoided barrier 320 at this time, in former avoidance path
The lanes of target point P2.703, judge after vehicle 310 has driven to adjacent lane for a period of time (such as of short duration
Every), whether driver has the intention for returning to former lane, i.e. whether driver wants to complete this back to the road travelled originally
Avoidance.The driver that ECU 110 can be detected by corner/torque sensor whether have return the steering input in former lane come
It determines the intention, proceeds to 705 if having.If driver do not input or be more than interval time threshold value input steering moment or
Angle, process 700 terminates at this time.
705, the avoidance path of avoiding barrier 320 is planned.The process can be similar with aforementioned process.Specifically,
The trajectory planning layer of ECU110 obtains width, distance, the transverse acceleration letter that environmental detection device 120 detects barrier 320
Breath, is predicted based on target travel track of the Kalman filtering to vehicle 310, and using lane line as constraint condition, to obtain
The lateral velocity of vehicle 310 itself, lateral acceleration information be reference, the position target point P4 is calculated and needs to move
Lateral distance SY.Pass through best-first search algorithmic rule between starting point P3 and target point P4 according to the theory of optimal control
Avoidance path 610 out.
707, judge whether avoidance path is feasible.If occurring or will go out in the avoidance path 610 that ECU 100 is planned
When showing other barriers, namely may collide with other barriers, then it is assumed that the path 610 of planning is infeasible, at this time
Process 700 terminates.If the avoidance path 610 of planning is feasible, proceed to 709.
709, steering moment is calculated.The process as previously mentioned, obtain multiple discrete points to 610 discretization of avoidance path,
Steering moment is calculated to the first discrete point.Later, 711, distribution executes and turns to request torque, then promotes to brake 713
System and steering system execute the torque of request, to realize vehicle tracking to the first discrete point position.Then, 715, judge
Whether target trajectory reaches, i.e., whether current location is last discrete point on track, if it is, terminate process 700, if
It is no, then 709 are jumped to, calculates steering moment for next track discrete point, reaches target trajectory until completing vehicle, 717
End process 700.
It utilizes Vehicle Stability System from can be seen that the embodiment of the present invention to the description of the embodiment of the present invention above and turns to
Auxiliary system cooperates, and avoids vehicle from occurring sliding or unstable and excessive lateral displacement dangerous working condition, so that keeping away
Make process more stable.Meanwhile braking system carries out differential braking and vehicle is made to obtain certain additional steering moment, facilitates vehicle
Quick weaving in short time.Especially in the case where running at high speed, can not it lead to for emergent barrier
Braking is crossed when avoiding, improves safety and the comfort of vehicle driving.
In addition, considering that driver needs quickly to be returned from lane in some cases during evacuation, therefore in vehicle
Secondary auxiliary is provided when quickly returning, safely and effectively realizes the demand that vehicle quickly returns.
It will be understood by those skilled in the art that in flow charts indicate or logic described otherwise above herein and/or
Step may be embodied in and appoint for example, being considered the order list of the executable instruction for realizing logic function
In what computer-readable medium, for instruction execution system, device or equipment (such as computer based system including processor
System or other can be from instruction execution system, device or equipment instruction fetch and the system executed instruction) use, or combine this
A little instruction execution systems, device or equipment and use.For the purpose of this specification, " computer-readable medium " can be it is any can be with
Include, store, communicate, propagate, or transport program is for instruction execution system, device or equipment or in conjunction with these instruction execution systems
System, device or equipment and the device used.
The more specific example (non-exhaustive list) of computer-readable medium include the following: there are one or more wirings
Electrical connection section (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
More than, embodiments of the present invention are illustrated.But the present invention is not limited to above embodiment.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of emergency turn auxiliary driving method characterized by comprising
In response to detecting that vehicle has the risk collided with front obstacle, the first of the planning evacuation front obstacle is kept away
Allow path；
For first avoidance path of planning, steering moment is calculated；And
The steering moment of calculating is based on predetermined allocation strategy to distribute between motor vehicle braking system and wheel steering system,
So that the motor vehicle braking system and the wheel steering system cooperating are to realize vehicle indicated by the steering moment
It turns to.
2. the method according to claim 1, wherein wherein planning avoids the first avoidance path of the barrier
Include:
Based on the information of the front obstacle detected by environment sensor, calculates the vehicle and avoid the front barrier
The lateral distance range that hinders object and can move；
Lateral velocity and transverse acceleration based on the vehicle and the lane line to be detected by the environment sensor
For constraint condition, target position and the lateral distance of the vehicle are calculated；And
Based on the target position and the lateral distance, first avoidance path is determined.
3. the method according to claim 1, wherein further include:
Based on the environmental information in first avoidance path side detected by environment sensor, it is determined whether there are potential
Barrier；
In response to there are potential barriers, the track of the potential barrier is predicted；
The track based on prediction, determines whether the vehicle is deposited in first avoidance path with the potential barrier
In risk of collision；And
In response to planning that the vehicle avoids the other avoidance path of the front obstacle there are risk of collision.
4. the method according to claim 1, wherein further include:
The collision time of the front obstacle Yu the vehicle is calculated, the collision time indicates that the vehicle is currently arrived and will be sent out
The period of raw collision；And
It is less than first threshold in response to the collision time, detects whether the driver has to avoid the front obstacle
Steering be intended to.
5. the method according to claim 1, wherein wherein calculating steering moment includes:
For the first evacuation obtained multiple tracing points in track described in discretization, with the rear shaft center position of the vehicle and vehicle
Body the course angle rear axle speed and front wheel angle current as system state amount, the vehicle establish track following as input quantity
Controlling model；And
For the current trace points of first avoidance path, before adjusting the vehicle by the Trajectory Tracking Control model
Corner and speed are taken turns, the current desired steering moment of the vehicle is calculated.
6. according to the method described in claim 5, it is characterized in that, the steering moment of calculating is wherein based on predetermined distribution
Strategy distributes between motor vehicle braking system and wheel steering system
Based on the current desired steering moment of vehicle and to keep predetermined slip rate as constraint condition, calculating is applied to the vehicle
The brake pressure respectively taken turns；
Calculate the additional steering moment that the vehicle differential braking generates under the brake pressure respectively taken turns；
Steering moment needed for being less than current vehicle in response to the additional steering moment calculates front wheel angle to meet and works as front truck
Steering moment needed for；And
The brake pressure respectively taken turns calculated is transmitted to the motor vehicle braking system and is transmitted to the wheel steering system
The front wheel angle calculated, so that the motor vehicle braking system realizes that vehicle turns with the wheel steering system cooperating
To.
7. according to the method described in claim 6, it is characterized by further comprising:
Determine whether the vehicle reaches the last tracing point of the multiple tracing point；And
In response to not reaching the last tracing point of the multiple tracing point, for next tracing point, calculate needed for the vehicle
Steering moment.
8. the method according to claim 1, wherein further include:
In response to detecting that there is driver the return for returning to former traveling lane from first avoidance path to be intended to, planning evacuation
Second avoidance path of former traveling lane barrier；
For second avoidance path of planning, steering moment is calculated；And
The steering moment of calculating is based on predetermined allocation strategy to distribute between motor vehicle braking system and wheel steering system, is made
The motor vehicle braking system and the wheel steering system cooperating are obtained to realize Vehicular turn indicated by the steering moment.
9. a kind of emergency turn DAS (Driver Assistant System) characterized by comprising
Electronic control unit executes operation information based on vehicle environmental information and vehicle drive to plan evacuation front obstacle
Avoidance path, calculate steering moment needed for avoidance path described in control vehicle tracking；
Unit is coordinated and managed, the request that turns to of the steering moment including calculating is received from the electronic control unit, and
And the steering moment of calculating is based on predetermined allocation strategy and is distributed between motor vehicle braking system and wheel steering system, make
The motor vehicle braking system and the wheel steering system cooperating are obtained to realize that vehicle indicated by the steering moment turns
To；
Vehicle stability controlled system will be converted into the wheel of each wheel from the received distribution steering moment of coordinated management unit
Cylinder pressure, and control each wheel differential braking；And
Wheel steering system will be applied to Vehicular turn from the received distribution steering moment of coordinated management unit and execute dress
It sets to sentence and changes front wheel angle to realize Vehicular turn.
10. a kind of electronic equipment characterized by comprising
Processor；And
It is stored with the memory of instruction, described instruction promotes the equipment execution to want according to right when being executed by the processor
Seek method described in any one of 1-8.
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