CN116022103B - Emergency collision avoidance system for test vehicle in unmanned test field - Google Patents
Emergency collision avoidance system for test vehicle in unmanned test field Download PDFInfo
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Abstract
The invention discloses an emergency collision avoidance system for a test vehicle in an unmanned test field, which comprises:2 rotation speed sensors for obtaining the rotation speed information of the two front wheels in real time; the pre-collision detection sensors are used for acquiring pre-collision time information of the vehicle in all directions; brake controller storing trigger brake time T 1 The method is used for judging the vehicle state according to the obtained rotating speed information, determining the pre-collision time information of the acquired information according to the vehicle state, and selecting the minimum value in the pre-collision time information of the acquired information as the vehicle pre-collision time T 2 Further judge T 2 Whether or not it is smaller than T 1 If yes, sending a braking instruction; and the executing mechanism is used for receiving and driving the brake pedal according to the brake instruction to realize braking. The invention has the beneficial effects of realizing unmanned automatic driving vehicle reliability test, braking the vehicle through the vehicle emergency collision avoidance system under the condition that the vehicle is dangerous or has faults, preventing accidents or reducing loss caused by the accidents.
Description
Technical Field
The invention relates to the technical field of unmanned test equipment. More particularly, the invention relates to an emergency collision avoidance system for a test vehicle in an unmanned test field.
Background
The test of the automatic driving vehicle comprises a performance test and a reliability test, wherein the reliability test is the last stage of the research and development of automobile products, namely, the running test is repeated on certain roads for a long time, and the worst working condition in the use of customers is simulated through the roads, so that the aim of checking the reliability of the products is fulfilled.
In the reliability test, the driver is theoretically not required in the automatic driving vehicle, and the vehicle can cycle the running test according to the planned path. However, in order to test safety, the test field requires that at least one driver must be equipped on the vehicle, and the driver has the job function of taking over the vehicle in case of danger or failure of automatically driving the vehicle, and performing emergency braking on the vehicle to prevent the collision accident of the vehicle. The reliability test is characterized by high repeatability, one circle of running, generally one vehicle type runs for hundreds of thousands of kilometers at least, millions of kilometers more, long test period, extremely high labor cost, high working strength, easy fatigue and accidents of drivers, and accidents of casualties of the test staff can occur in 19 large test fields in the whole country each year, mainly because the conditions of fatigue driving and the like occur under the high-strength work of the drivers, and accidents are caused. How to take over a vehicle under the condition that an automatic driving vehicle is dangerous or has a fault, and to execute emergency braking on the vehicle to prevent the vehicle from collision accidents is a problem which needs to be solved at present.
Disclosure of Invention
It is an object of the present invention to solve at least the above problems and to provide at least the advantages to be described later.
It is still another object of the present invention to provide an emergency collision avoidance system for testing vehicles in an unmanned test field, which is provided with an emergency collision avoidance system for vehicles independent of an automatic driving system, so that unmanned reliability test of the automatic driving vehicles can be achieved when the reliability test is performed on the vehicles, and the vehicles are braked by the emergency collision avoidance system for vehicles under the condition that the vehicles are dangerous or have faults, thereby preventing accidents or reducing the loss caused by the accidents.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided an in-flight test vehicle emergency collision avoidance system including:
the 2 rotating speed sensors are respectively arranged on the outer sides of the two front wheels of the vehicle and are used for acquiring the rotating speed information of the two front wheels in real time;
the pre-collision detection sensors are respectively arranged around the vehicle body and are used for acquiring pre-collision time information of the vehicle in all directions;
a brake controller connected with the rotation speed sensor and the pre-collision detection sensor and storing trigger brake time T 1 The method is used for judging the vehicle state according to the obtained rotating speed information, determining the pre-collision time information of the acquired information according to the vehicle state, and selecting the minimum value in the pre-collision time information of the acquired information as the vehicle pre-collision time T 2 Further judge T 2 Whether or not it is smaller than T 1 If yes, sending a braking instruction;
the actuating mechanism is connected with the brake controller and used for receiving and driving the brake pedal to realize braking according to the brake instruction.
Preferably, the number of the pre-collision detection sensors is 8, and the pre-collision detection sensors are arranged at the front part, the left front part, the right front part, the left side, the right side, the rear part, the left rear part and the right rear part of the vehicle body in a meter shape.
Preferably, the pitch angle of the pre-crash detection sensor is 0, and the pre-crash detection sensor mounting directions of the front, rear, left, and right sides are directed toward the front, rear, left, and right directions of the vehicle, respectively, and the pre-crash detection sensor mounting directions of the front, right, front, left, and rear left, and right parts are parallel to the diagonal line of the vehicle.
Preferably, the rotational speed information defining the left front wheel is written as n Left side The rotation speed information of the right front wheel is recorded as n Right side The vehicle state is judged according to the obtained rotation speed information, specifically:
when n is Left side =n Right side When=0, the vehicle is in a stationary state;
when n is Left side 、n Right side When all are > 0, the vehicle is in a forward state, further comprising: i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) is less than or equal to 5%, the vehicle is in a state without left-right rotation; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Left side ＞n Right side When the vehicle is in a right turn state; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Right side ＞n Left side When the vehicle is in a left turning state;
when n is Left side 、n Right side When all are less than 0, the vehicle processes the backward state, further comprising: i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) is less than or equal to 5%, the vehicle is in a state without left-right rotation; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Left side ＜n Right side When the vehicle is in right turnA state; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Right side ＜n Left side At this time, the vehicle is in a left-turn state.
Preferably, pre-collision time information acquired by pre-collision detection sensors mounted on the front, front left, front right, left side, right side, rear left, rear right side of the vehicle body is defined as: the method comprises the steps of t1, t2, t3, t4, t5, t6, t7 and t8, wherein before the pre-collision time information of the acquired information is determined according to the vehicle state, a brake controller is further included to receive all the pre-collision time information and judge whether abnormal information is received or not, if so, a brake instruction is sent, and if not, the pre-collision time information of the acquired information is determined according to the vehicle state.
Preferably, the pre-collision time information of the acquired information is determined according to the vehicle state, specifically:
when the vehicle is in a stationary state, no message is acquired;
when the vehicle is in a forward and left-right turning state, acquiring signals t1, t2 and t3;
when the vehicle is in a forward and left turning state, acquiring signals t1, t2, t3 and t4;
when the vehicle is in a forward and right-turning state, acquiring signals t1, t2, t3 and t5;
when the vehicle is in a backward and left-right turning state, acquiring signals t6, t7 and t8;
when the vehicle is in a backward and left-turning state, all pre-collision time information is acquired;
when the vehicle is in a backward and right-turning state, all pre-collision time information is acquired.
Preferably, the actuating mechanism comprises a servo motor with an output end fixedly connected with an eccentric shaft, the eccentric shaft is in contact with a vehicle brake pedal and used for rotating to drive the brake pedal to brake, and the servo motor is connected with a brake controller and used for receiving a brake command and driving the eccentric shaft to rotate according to the brake command so as to drive the brake pedal to brake.
Preferably, the braking time T is triggered 1 =v/a+b；
Where v is the speed of the vehicle, v=pi r (|n) Left side |+|n Right side I), r is the frontTire radius of the wheel;
a is the vehicle braking deceleration when the actuating mechanism brakes, and the value a is larger than the maximum vehicle deceleration set by the automatic driving system and is not larger than the maximum vehicle deceleration of the physical limit of the vehicle;
b is the time required for the brake controller to trigger a brake command until the actuator is activated and the vehicle braking deceleration reaches the value a, denoted as b=b1+b2, b1 is the time required for the actuator to be activated and the vehicle braking deceleration reaches the value a, and b2 is the time required for the brake controller to trigger a brake command until the actuator is activated.
Preferably, the vehicle braking system further comprises a calibration module for calibrating the relation between the rotation angle of the eccentric shaft and the braking deceleration of the vehicle, and specifically comprises: under the condition of different running speeds, slowly stepping on the brake to determine the vehicle braking deceleration corresponding to different running speeds and different braking strokes; determining the relation between the rotation angle of the eccentric shaft and the braking deceleration of the vehicle based on the relation between the rotation angle of the eccentric shaft and the braking stroke;
judgment T 2 Less than T 1 After that, before sending the braking instruction, the method further comprises:
s1, determining optimal deceleration a1=v/T 2 ；
S2, determining a rotation angle K of the eccentric shaft based on the relation between the optimal deceleration a1 and the rotation angle of the eccentric shaft and the braking deceleration of the vehicle;
s3, sending a braking instruction based on the rotation angle K;
the servo motor receives a braking instruction and drives the eccentric shaft to rotate by a rotation angle K, so that the brake pedal is driven to realize braking, and the braking deceleration of the vehicle is controlled to be a1.
Preferably, the method further comprises: the two gyroscopes are fixedly arranged on the outer sides of two front wheels of the vehicle and close to the center of the hub, are used for obtaining deflection information of the wheels in real time, and define the deflection information of the left front wheel as A Left side The deflection information of the right front wheel is A Right side The method comprises the steps of carrying out a first treatment on the surface of the Wherein:
the gyroscope is connected with the brake controller in a wired or wireless mode, and transmits the deflection information of the wheels to the brake controller in real time to brakeThe controller is based on n Left side 、n Right side 、A Left side 、A Right side The vehicle state is judged specifically as follows:
judgment (|n) Left side |+|n Right side I)/2 > 1.6r/s, or n Left side =n Right side Whether or not at least one of =0 holds;
if yes, judging the vehicle state according to the method for judging the vehicle state as claimed in claim 3;
if not, confirm A Left side =A Right side If yes, determining that the vehicle is in a state without left and right rotation; if not, confirm A Right side -A Left side If the value of > 0 is true, the vehicle is in a right-turn state, and if the value is not in a left-turn state.
The invention at least comprises the following beneficial effects:
the vehicle emergency collision avoidance system independent of the automatic driving system is arranged, so that unmanned automatic driving vehicle reliability test can be realized when the reliability test is carried out on the vehicle, and the vehicle is braked by the vehicle emergency collision avoidance system under the condition that the vehicle is dangerous or has a fault, thereby preventing accidents or reducing the loss caused by the accidents; further, personnel cost, management cost and time cost (realizing continuous test for 24 hours in all weather, improving the utilization rate of the field and improving the test efficiency) of the automatic driving vehicle test are reduced, and the method is specific:
the pre-collision detection sensor is arranged around the vehicle body in a shape of a Chinese character 'mi', so that the monitoring of all directions of the vehicle body is met, the vehicle state is determined according to the rotating speed sensor, the pre-collision time information of the acquired information is determined according to the vehicle state, and the vehicle danger judgment accuracy is improved;
trigger brake time T 1 According to the setting of the value a, considering the braking performance of the automatic driving system, and considering the braking space of the vehicle, so as to judge faults and timely brake while not affecting the operation of the automatic driving system;
the actuating mechanism directly acts on the brake pedal to realize emergency forced braking, so that the error probability is reduced;
through the combined use of the gyroscope and the rotation speed sensor, the running state of the vehicle can be accurately judged under the low-speed condition, and misjudgment caused by single use of the rotation speed sensor is avoided.
And the optimal deceleration is determined, so that the ineffective large-stroke braking is avoided and the vehicle loss is reduced while the braking is realized.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a diagram showing the installation position analysis of a rotation speed sensor, a gyroscope and a pre-collision detection sensor according to one technical scheme of the invention;
fig. 2 is a schematic structural diagram of an emergency collision avoidance system for a test vehicle in an unmanned test field according to one embodiment of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
< scheme 1>
As shown in fig. 2, an emergency collision avoidance system for a test vehicle in an unmanned test field, for being installed on an autonomous vehicle and operating independently of the autonomous system of the autonomous vehicle, the autonomous system being for controlling the autonomous vehicle to run in a loop according to a planned path, the emergency collision avoidance system comprising:
(1) The two rotating speed sensors are respectively fixedly arranged at the center positions of hubs on the outer sides of the two front wheels of the vehicle, are shown as n1 and n2 marked in fig. 1 and are used for obtaining the rotating speed information of the two front wheels in real time, and define the rotating speed information of the left front wheel as n Left side The rotation speed information of the right front wheel is recorded as n Right side The rotating speed sensor is specifically a Hall rotating speed sensor;
(2) The pre-collision detection sensors are respectively arranged around the vehicle body and used for acquiring pre-collision time information of the vehicle in all directions, and specifically: in one of the technical schemes, as shown in fig. 1, the number of the pre-collision detection sensors is 8, namely 1, 2, 3, 4, 5, 6, 7 and 8, which are arranged around the vehicle body, the 8 pre-collision detection sensors are arranged at the front part, the front left, the front right, the left side, the right side, the rear part, the rear left and the rear right of the vehicle body in a meter shape, the distance between the pre-collision detection sensors and the ground is 20 cm to 100cm, for the same vehicle, the installation heights of all the pre-collision detection sensors are as high as possible in the same horizontal plane, if the pre-collision detection sensors cannot be installed in the same horizontal plane, and the height difference between the installation positions of the pre-collision detection sensors at the highest point and the pre-collision sensors at the lowest point is controlled within 30cm, so as to ensure the detection effectiveness; further, the pitch angle of the pre-collision detection sensor is 0, that is, the installation angle of the pre-collision detection sensor is parallel to the ground, and the installation directions of the pre-collision detection sensors on the front, rear, left and right sides face the front, rear, left and right directions of the vehicle respectively, and the installation directions of the pre-collision detection sensors on the front, right, left and right rear parts of the vehicle are parallel to the diagonal line of the vehicle;
(3) A brake controller configured to:
(1) is connected with the rotating speed sensor in a wired or wireless mode and is used for receiving the rotating speed information n transmitted by the rotating speed sensor to the brake controller in real time Left side 、n Right side And judges the vehicle state based on the rotational speed information obtained in real time, specifically:
when n is Left side =n Right side When=0, the vehicle is in a stationary state;
when n is Left side 、n Right side When all are > 0, the vehicle is in a forward state, further comprising: i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) is less than or equal to 5%, the vehicle is in a state without left-right rotation; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Left side ＞n Right side When the vehicle is in a right turn state; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Right side ＞n Left side When the vehicle is in a left turning state;
when n is Left side 、n Right side When all are less than 0, the vehicle processes the backward state, further comprising: i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) is less than or equal to 5%, the vehicle is in a state without left-right rotation; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Left side ＜n Right side When the vehicle is in a right turn state; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Right side ＜n Left side When the vehicle is in a left turning state;
(2) the device is connected with the pre-collision detection sensor in a wired or wireless mode and is used for receiving all pre-collision time information and judging whether abnormal information (including the condition that a signal of a certain pre-collision detection sensor cannot be received or the signal is abnormal) is received or not, if so, a braking instruction is sent, and if not, the pre-collision time information of the acquired information is determined according to the state of the vehicle;
the pre-collision time information acquired by pre-collision detection sensors arranged at the front part, the front left part, the front right part, the left side, the right side, the rear part, the rear left part and the rear right part of the vehicle body is defined as follows: t1, t2, t3, t4, t5, t6, t7 and t8, before determining the pre-crash time information of the acquired signals according to the vehicle state, specifically:
when the vehicle is in a stationary state, no message is acquired;
when the vehicle is in a forward and left-right turning state, acquiring signals t1, t2 and t3;
when the vehicle is in a forward and left turning state, acquiring signals t1, t2, t3 and t4;
when the vehicle is in a forward and right-turning state, acquiring signals t1, t2, t3 and t5;
when the vehicle is in a backward and left-right turning state, acquiring signals t6, t7 and t8;
when the vehicle is in a backward and left-turning state, all pre-collision time information is acquired;
when the vehicle is in a backward and right-turning state, all pre-collision time information is acquired;
(3) selecting the minimum value in the pre-collision time information of the acquired information as the pre-collision time T of the vehicle 2 ；
(4) Store trigger brake time T 1 Trigger brake time T 1 =v/a+b；
Where v is the speed of the vehicle, v=pi r (|n) Left side |+|n Right side I), r is the tire radius of the front wheel;
a is the vehicle braking deceleration when the actuating mechanism brakes, and the value a is larger than the maximum vehicle deceleration set by the automatic driving system and is not larger than the maximum vehicle deceleration of the physical limit of the vehicle;
b is the time required for the brake controller to trigger a brake instruction until the actuating mechanism is started until the vehicle brake deceleration reaches the value a, namely, b is the time required for the brake controller to trigger the brake instruction until the maximum brake force is reached, and comprises communication transmission time and the time consumption of the physical mechanism, wherein the time required for the actuating mechanism to be started until the vehicle brake deceleration reaches the value a is represented as b=b1+b2, and b1 is the time required for the actuating mechanism to be started until the vehicle brake deceleration reaches the value a, namely, the time consumption of the physical mechanism to be executed; b2 is the time required from the triggering of the braking instruction by the braking controller to the starting of the actuating mechanism, namely the communication transmission time, and is calibrated according to a specific device, and the range is usually more than 0 and less than 0.1s after the calibration;
(5) judgment T 2 Whether or not it is smaller than T 1 If yes, sending a braking instruction;
(4) The actuating mechanism is connected with the brake controller and is used for receiving and driving the brake pedal to realize braking according to a brake instruction, and specifically: the actuating mechanism comprises a servo motor, an eccentric shaft is fixedly connected with the output end of the servo motor, the eccentric shaft is in contact with a brake pedal of a vehicle and used for driving the brake pedal to brake in a rotating mode, the servo motor is connected with a brake controller and used for receiving a brake command, and the eccentric shaft is driven to rotate according to the brake command so as to drive the brake pedal to brake.
In the above technical solution, the pre-collision detection sensor may specifically be a laser range finder, configured to obtain a relative distance Δs and a relative speed Δv between the pre-collision detection sensor and an object in a detection range, so as to obtain pre-collision time information according to pre-collision time= Δs/[ Δv ];in the use process, the brake controller analyzes data transmitted by the pre-collision detection sensor, once the pre-collision time of the vehicle is smaller than the set triggering brake time, or any pre-collision detection sensor generates a power failure or abnormal signal, the brake controller sends a brake instruction to the executing mechanism, and the executing mechanism drives the eccentric shaft to press the pedal downwards through controlling the servo motor to rotate, so that emergency braking is realized, and the collision loss is reduced; by adopting the technical scheme, firstly, the pre-collision detection sensor is arranged around the vehicle body in a shape of a Chinese character 'mi', so that the monitoring of all directions of the vehicle body is met, further, the vehicle state is determined according to the rotating speed sensor, the pre-collision time information of the acquired information is determined according to the vehicle state, and the vehicle danger judgment accuracy is improved; second, trigger brake time T 1 According to the setting of the value a, considering the braking performance of the automatic driving system, and considering the braking space of the vehicle, so as to judge faults and timely brake while not affecting the operation of the automatic driving system; furthermore, the actuating mechanism directly acts on the brake pedal to realize emergency forced braking; in a word, the vehicle emergency collision avoidance system independent of the automatic driving system is arranged, so that unmanned automatic driving vehicle reliability test can be realized when the vehicle is subjected to reliability test, and the vehicle is braked by the vehicle emergency collision avoidance system under the condition that the vehicle is dangerous or has a fault, thereby preventing accidents or reducing the loss caused by the accidents; further, personnel cost, management cost and time cost of automatic driving vehicle test are reduced (all-weather 24-hour uninterrupted test is realized, field utilization rate is improved, and test efficiency is improved).
< scheme 2>
An emergency collision avoidance system for an unmanned test vehicle in a test field, wherein the emergency collision avoidance system further comprises, on the basis of < scheme 1 >:
the two gyroscopes are fixedly arranged on the outer sides of two front wheels of the vehicle and close to the center of the hub, and are used for obtaining deflection information of the wheels in real time, and as shown by A1 and A2 marked in FIG. 1, the deflection information of the left front wheel A1 is defined as A Left side The deflection information of the right front wheel A2 is A Right side The method comprises the steps of carrying out a first treatment on the surface of the Wherein:
the gyroscope is connected with the brake controller in a wired or wireless mode, the gyroscope transmits deflection information of wheels to the brake controller in real time, and the brake controller is used for controlling the brake according to n Left side 、n Right side 、A Left side 、A Right side The vehicle state is judged specifically as follows:
judgment (|n) Left side |+|n Right side I)/2 > 1.6r/s, or n Left side =n Right side Whether or not at least one of =0 holds;
if yes, judging the vehicle state according to the method for judging the vehicle state described in the scheme 1>, namely judging the vehicle state only according to the rotating speed information;
II, if not, judging the static state, the forward state and the backward state of the vehicle according to the rotating speed information, and when n Left side =n Right side When=0, the vehicle is in a stationary state; when n is Left side 、n Right side When all are more than 0, the vehicle is in a forward state, when n Left side 、n Right side When the deflection information is less than 0, the vehicle is in a retreating state, wherein when the vehicle is in a non-stationary state, the steering state of the vehicle is further judged according to the deflection information, and the method specifically comprises the following steps:
determination of A Left side =A Right side If yes, determining that the vehicle is in a state without left and right rotation; if not, confirm A Right side -A Left side If the value of > 0 is true, the vehicle is in a right-turn state, and if the value is not in a left-turn state.
By adopting the scheme, the running state of the vehicle can be accurately judged under the low-speed condition through the combined use of the gyroscope and the rotation speed sensor, and misjudgment caused by single use of the rotation speed sensor is avoided.
< scheme 3>
An emergency collision avoidance system for an unmanned test vehicle in a test field, wherein the emergency collision avoidance system further comprises, on the basis of < scheme 1 >:
the calibration module is used for calibrating the relation between the rotation angle of the eccentric shaft and the braking deceleration of the vehicle, and specifically comprises the following steps: under the condition of different running speeds, slowly stepping on the brake to determine the vehicle braking deceleration corresponding to different running speeds and different braking strokes; determining the relation between the rotation angle of the eccentric shaft and the braking deceleration of the vehicle based on the relation between the rotation angle of the eccentric shaft and the braking stroke;
judgment T 2 Less than T 1 After that, before sending the braking instruction, the method further comprises:
s1, determining optimal deceleration a1=v/T 2 ；
S2, determining a rotation angle K of the eccentric shaft based on the relation between the optimal deceleration a1 and the rotation angle of the eccentric shaft and the braking deceleration of the vehicle;
s3, sending a braking instruction based on the rotation angle K;
the servo motor receives a braking instruction and drives the eccentric shaft to rotate by a rotation angle K, so that the brake pedal is driven to realize braking, and the braking deceleration of the vehicle is controlled to be a1.
By adopting the scheme, the optimal deceleration is determined, and the ineffective large-stroke brake is avoided and the vehicle loss is reduced while the brake is realized.
Example 1 ]
A collision avoidance method for an emergency collision avoidance system of a test vehicle in an unmanned test field comprises the following steps:
step one, 2 rotation speed sensors acquire rotation speed information of two front wheels, wherein the rotation speed information comprises the following steps: the left front wheel is 5.87r/s, and the right front wheel is 6.87r/s;
the brake controller receives the rotation speed information n transmitted to the brake controller by the rotation speed sensor Left side =5.87r/s、n Right side =6.87 r/s, at this time, (|n) Left side |+|n Right side I)/2 is more than 1.6r/s, and the vehicle state is judged specifically as follows:
n left side 、n Right side All > 0, the vehicle is in a forward state, further comprising: i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Right side ＞n Left side When the vehicle is in a left turning state;
i.e., the vehicle is in a state of forward and left turn;
step two, 8 pre-collision detection sensors synchronously acquire pre-collision time information (t 1, t2, t3, t4, t5, t6, t7 and t 8) of the vehicle in all directions, a brake controller receives all the pre-collision time information and judges that abnormal information is not received, and the pre-collision time information of a collected signal is determined to be t1, t2, t3 and t4 according to the state of the vehicle, wherein t1=2.57 s, t2=2.46 s, t3=2.96 s and t4=13.3 s;
selecting the minimum value of T1, T2, T3 and T4 as the pre-collision time T of the vehicle 2 =2.46s；
Step three, storing trigger braking time T 1 Trigger brake time T 1 =v/a+b=2.5 s, the conversion method is as follows:
v is the speed of the vehicle, v=pi r (|n) Left side |+|n Right side I) =14 m/s, r is the tire radius of the front wheel 0.35m;
a is the vehicle braking deceleration when the actuating mechanism brakes, the value of a is larger than the maximum vehicle deceleration set by the automatic driving system and is not larger than the maximum vehicle deceleration of the physical limit of the vehicle, and a=7m/s in the embodiment;
b=b1+b2=0.5；
step four, judging T 2 Less than T 1 Sending a braking instruction;
and fifthly, the executing mechanism receives and drives the brake pedal to realize braking according to the braking instruction.
The number of equipment and the scale of processing described herein are intended to simplify the description of the present invention. The application, modification and variation of the test vehicle emergency collision avoidance system in the unmanned test field of the present invention will be apparent to those skilled in the art.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (10)
1. The utility model provides an unmanned test in-house test vehicle emergent collision avoidance system which characterized in that includes:
the 2 rotating speed sensors are respectively arranged on the outer sides of the two front wheels of the vehicle and are used for acquiring the rotating speed information of the two front wheels in real time;
the pre-collision detection sensors are respectively arranged around the vehicle body and are used for acquiring pre-collision time information of the vehicle in all directions;
a brake controller connected with the rotation speed sensor and the pre-collision detection sensor and storing trigger brake time T 1 The method is used for judging the vehicle state according to the obtained rotating speed information, determining the pre-collision time information of the acquired information according to the vehicle state, and selecting the minimum value in the pre-collision time information of the acquired information as the vehicle pre-collision time T 2 Further judge T 2 Whether or not it is smaller than T 1 If yes, sending a braking instruction;
the actuating mechanism is connected with the brake controller and used for receiving and driving the brake pedal to realize braking according to the brake instruction.
2. The unmanned test field test vehicle emergency collision avoidance system of claim 1 wherein the number of pre-crash detection sensors is 8, mounted in a zig-zag configuration in the front, front left, front right, left, right, rear left, rear right of the vehicle body.
3. The unmanned test field test vehicle emergency collision avoidance system of claim 2 wherein the pitch angle of the pre-crash detection sensor is 0 and the front, rear, left, right pre-crash detection sensor mounting directions are oriented in the forward, rearward, forward left, forward right directions of the vehicle, respectively, and the left forward, right forward, left rearward, right rearward pre-crash detection sensor mounting directions are parallel to the vehicle diagonal.
4. An unmanned test field test vehicle emergency collision avoidance system according to claim 3, wherein the rotational speed information defining the left front wheel is denoted as n Left side The rotation speed information of the right front wheel is recorded as n Right side The vehicle state is judged according to the obtained rotation speed information, and the judgment rule is specifically as follows:
when n is Left side =n Right side When=0, the vehicle is in a stationary state;
when n is Left side 、n Right side When all are > 0, the vehicle is in a forward state, further comprising: i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) is less than or equal to 5%, the vehicle is in a state without left-right rotation; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Left side ＞n Right side When the vehicle is in a right turn state; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Right side ＞n Left side When the vehicle is in a left turning state;
when n is Left side 、n Right side When all are smaller than 0, the vehicle is in a backward state, and the method further comprises the following steps: i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) is less than or equal to 5%, the vehicle is in a state without left-right rotation; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Left side ＜n Right side When the vehicle is in a right turn state; i N Left side |-|n Right side ||÷（|n Left side |+|n Right side I) > 5%, and n Right side ＜n Left side At this time, the vehicle is in a left-turn state.
5. The unmanned test field test vehicle emergency collision avoidance system of claim 3 wherein pre-crash time information acquired by pre-crash detection sensors mounted in front of the vehicle body, front left, front right, left side, right side, rear left, rear right are defined as: t1, t2, t3, t4, t5, t6, t7 and t8, before determining the pre-crash time information of the acquired message according to the vehicle state, the brake controller is further included to receive all the pre-crash time information and judge whether abnormal information is received or not, if yes, a brake instruction is sent, and if not, the pre-crash time information of the acquired message is determined according to the vehicle state.
6. The unmanned test field test vehicle emergency collision avoidance system of claim 5 wherein the pre-crash time information for the acquisition is determined based on vehicle status, specifically:
when the vehicle is in a stationary state, no message is acquired;
when the vehicle is in a forward and left-right turning state, acquiring signals t1, t2 and t3;
when the vehicle is in a forward and left turning state, acquiring signals t1, t2, t3 and t4;
when the vehicle is in a forward and right-turning state, acquiring signals t1, t2, t3 and t5;
when the vehicle is in a backward and left-right turning state, acquiring signals t6, t7 and t8;
when the vehicle is in a backward and left-turning state, all pre-collision time information is acquired;
when the vehicle is in a backward and right-turning state, all pre-collision time information is acquired.
7. The system for testing vehicle emergency collision avoidance in an unmanned test field according to claim 4, wherein the actuator comprises a servo motor with an output end fixedly connected with an eccentric shaft, the eccentric shaft is in contact with a vehicle brake pedal for rotating to drive the brake pedal to brake, and the servo motor is connected with a brake controller for receiving a brake command and driving the eccentric shaft to rotate according to the brake command to drive the brake pedal to brake.
8. The unmanned test in-field test vehicle emergency collision avoidance system of claim 7 wherein the trigger brake time T 1 =v/a+b；
Where v is the speed of the vehicle, v=pi r (|n) Left side |+|n Right side I), r is the tire radius of the front wheel;
a is the vehicle braking deceleration when the actuating mechanism brakes, and the value a is larger than the maximum vehicle deceleration set by the automatic driving system and is not larger than the maximum vehicle deceleration of the physical limit of the vehicle;
b=b1+b2, b1 being the time required for the actuator to be activated until the vehicle braking deceleration reaches the value a, 0 < b2 < 0.1s.
9. The unmanned test field test vehicle emergency collision avoidance system of claim 8, further comprising a calibration module for calibrating the relationship between the eccentric shaft rotation angle and the vehicle braking deceleration, comprising: under the condition of different running speeds, slowly stepping on the brake to determine the vehicle braking deceleration corresponding to different running speeds and different braking strokes; determining the relation between the rotation angle of the eccentric shaft and the braking deceleration of the vehicle based on the relation between the rotation angle of the eccentric shaft and the braking stroke;
judgment T 2 Less than T 1 Thereafter, before sending the braking instruction, the method further comprises:
s1, determining optimal deceleration a1=v/T 2 ；
S2, determining a rotation angle K of the eccentric shaft based on the relation between the optimal deceleration a1 and the rotation angle of the eccentric shaft and the braking deceleration of the vehicle;
s3, sending a braking instruction based on the rotation angle K;
the servo motor receives a braking instruction and drives the eccentric shaft to rotate by a rotation angle K, so that the brake pedal is driven to realize braking, and the braking deceleration of the vehicle is controlled to be a1.
10. The unmanned test yard test vehicle emergency collision avoidance system of claim 4, further comprising: the two gyroscopes are fixedly arranged on the outer sides of two front wheels of the vehicle and close to the center of the hub, are used for obtaining deflection information of the wheels in real time, and define the deflection information of the left front wheel as A Left side The deflection information of the right front wheel is A Right side The method comprises the steps of carrying out a first treatment on the surface of the Wherein:
the gyroscope is connected with the brake controller in a wired or wireless mode, the gyroscope transmits deflection information of wheels to the brake controller in real time, and the brake controller is used for controlling the brake according to n Left side 、n Right side 、A Left side 、A Right side The vehicle state is judged specifically as follows:
judgment (|n) Left side |+|n Right side I)/2 > 1.6r/s, or n Left side =n Right side Whether or not at least one of =0 holds;
if yes, judging the vehicle state according to the judging rule;
if not, confirm A Left side =A Right side If yes, determining that the vehicle is in a state without left and right rotation; if not, confirm A Right side -A Left side If the value of > 0 is true, the vehicle is in a right-turn state, and if the value is not in a left-turn state.
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| US10259452B2 (en) * | 2017-01-04 | 2019-04-16 | International Business Machines Corporation | Self-driving vehicle collision management system |
| JP6881219B2 (en) * | 2017-10-18 | 2021-06-02 | トヨタ自動車株式会社 | Pre-collision control device and pre-collision control method |
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