CN209409817U - A kind of control device for automobile accelerator - Google Patents
A kind of control device for automobile accelerator Download PDFInfo
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- CN209409817U CN209409817U CN201920038391.4U CN201920038391U CN209409817U CN 209409817 U CN209409817 U CN 209409817U CN 201920038391 U CN201920038391 U CN 201920038391U CN 209409817 U CN209409817 U CN 209409817U
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- entire car
- car controller
- automobile
- millimetre
- wave radar
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Abstract
The utility model relates to a kind of control device for automobile accelerator, Throttle Opening Control applied to city low speed version automobile, described device includes camera, millimetre-wave radar, entire car controller, gas pedal, electric brake system and driving motor, the camera and the millimetre-wave radar are mounted on the front of automobile, the input terminal of the entire car controller is connected with the camera, the millimetre-wave radar and the gas pedal respectively, and the output end of the entire car controller is connected with the electric brake system and the driving motor.The utility model combines camera, millimetre-wave radar, ultrasonic sensor, increase the judgement to vehicle front barrier, along with the path increment to gas pedal judges, serious consequence can effectively avoid throttle from accidentally stepping on or step on again caused by, relatively good beforehand control is also played to collision prevention of vehicle.
Description
Technical field
The utility model relates to technical field of automobile control, in particular to a kind of automobiles applied to city low speed version automobile
Accelerator control device.
Background technique
Recent years is universal with automobile, and automobile, which has begun, goes to everyone at one's side, but adjoint is therewith
More and more traffic accidents, more and more people are because automobile dedicates valuable life to.Significant portion is because of driver among these
Too low braking distance of estimating causes, and driver thinks also to will continue to acceleration until thinking the deceleration in safe distance under normal circumstances
When slowing down, often result in and knock into the back or other more serious accidents.In addition, existing collision prevention of vehicle or vehicle control
In system, vehicle does not simply fail to judge obstacles around the vehicle, and throttle also cannot be distinguished and accidentally step on or cross the state stepped on.
Utility model content
The purpose of the utility model is to provide a kind of control device for automobile accelerator, the throttle applied to city low speed version automobile
Control, combines camera, millimetre-wave radar, ultrasonic sensor, increases the judgement to vehicle front barrier, add
The path increment of gas pedal is judged, serious consequence can effectively avoid throttle from accidentally stepping on or step on again caused by, to vehicle
Anticollision also plays relatively good beforehand control.
To achieve the goals above, the utility model has following constitute:
The utility model provides a kind of control device for automobile accelerator, including forward-looking sensors component, entire car controller, oil
Door pedal and throttle executive module, the forward-looking sensors component are set to the front of automobile, the forward-looking sensors component and
The gas pedal is connected with the input terminal of the entire car controller respectively, and the entire car controller acquires the forward sight sensing
The data of device assembly and the pedal braking request signal for receiving the gas pedal, the output end and the throttle of the entire car controller
Executive module is connected.
Optionally, the forward-looking sensors component includes camera and millimetre-wave radar, the camera and the millimeter
Wave radar is respectively arranged at the front of automobile, the input terminal of the entire car controller respectively with the camera and the millimeter wave
Radar is connected, and the entire car controller acquires data from the camera and the millimetre-wave radar respectively.
Optionally, the forward-looking sensors component further includes ultrasonic radar, and the ultrasonic radar is installed on automobile
Front, the input terminal of the entire car controller are also connected with the ultrasonic radar, and the entire car controller is also from described super
Sound radar acquires data.
Optionally, the throttle executive module includes the driving motor of automobile, the driving motor of the automobile with it is described whole
The output end of vehicle controller is connected.
Optionally, the throttle executive module includes electric brake system, the electric brake system and the vehicle control
The output end of device processed is connected.
Control device for automobile accelerator provided by the utility model, applied to the Throttle Opening Control of city low speed version automobile, tool
It has the advantages that:
(1) gas pedal Anti-mis-stepping function is increased on the basis of emergency braking AEB (automobile active safety technology),
It can be under driver's state of emergency and front is there are in the state of barrier, traffic caused by can rapidly stepping down to avoid throttle
Accident, sets aside some time and distance to AEB emergency braking；
(2) device is according in the case where there is barrier in front, can be according to speed and the relationship of barrier to the oil of response
Door pedal carries out scale smaller, and then the acceleration of vehicle response reduces, to avoid serious consequence.
Detailed description of the invention
Fig. 1 is the structural block diagram of the control device for automobile accelerator of an embodiment of the present invention；
Fig. 2 is the structural block diagram of the control device for automobile accelerator of one specific embodiment of the utility model.
Specific embodiment
The present invention will be further illustrated below in conjunction with specific embodiments.It should be understood that these embodiments are merely to illustrate this
Utility model rather than limitation the scope of the utility model.In addition, it should also be understood that, in the content for having read the utility model instruction
Later, those skilled in the art can make various changes or modifications the utility model, and such equivalent forms equally fall within this Shen
It please the appended claims limited range.
As shown in Figure 1, the technical issues of in order to solve in the prior art, the utility model provides a kind of automotive throttle control
Device processed, applied to the Throttle Opening Control of city low speed version automobile, described device include forward-looking sensors component, entire car controller,
Gas pedal and throttle executive module, the forward-looking sensors component are set to the front of automobile, the forward-looking sensors component
It is connected respectively with the input terminal of the entire car controller with the gas pedal, the entire car controller acquires the forward sight and passes
The data of sensor component and the pedal braking request signal for receiving the gas pedal, the output end and the oil of the entire car controller
Door executive module is connected.
As shown in Fig. 2, in this embodiment, the forward-looking sensors component includes camera and millimetre-wave radar, described
Camera and the millimetre-wave radar are respectively arranged at the front of automobile, and the input terminal of the entire car controller is taken the photograph with described respectively
As head is connected with the millimetre-wave radar, the entire car controller is acquired from the camera and the millimetre-wave radar respectively
Data.The throttle executive module includes electric brake system and driving motor.The input terminal of the entire car controller respectively with
The camera, the millimetre-wave radar are connected with the gas pedal, the output end of the entire car controller and the electricity
Sub- braking system is connected with the driving motor；The entire car controller is used for respectively from the camera and the millimeter wave
Radar acquires data, and the distance of front obstacle, the vehicle control are determined according to the camera and the millimetre-wave radar
Device processed is according to the driving motor and the electric brake system of the distance of front obstacle and the input control automobile of gas pedal.
System can calculate entire car controller reality according to speed, frontal collisions time, gas pedal actual value in normal driving conditions
Border responsive state.
In this embodiment, described device further includes ultrasonic radar, and the ultrasonic radar is installed on the front of automobile,
The input terminal of the entire car controller is also connected with the ultrasonic radar, and the entire car controller is also used to from the ultrasound
Wave radar acquires data, and determines front obstacle according to the camera, the ultrasonic radar and the millimetre-wave radar
Distance.Therefore, camera, millimetre-wave radar and ultrasonic radar together constitute forward-looking sensors part.
In forward-looking sensors, camera for acquiring road surface video image in real time.Before millimetre-wave radar identification vehicle
Square obstacle information.Camera carries out video identification to road surface ahead, it can be determined that the form and type for going out objects in front, due to
The characteristic limitation of itself, it is inaccurate to the speed and range accuracy of front obstacle.Millimetre-wave radar can be accurately by before
The distance and speed of square barrier identify, the type of front obstacle can be effectively identified with both camera combinations
And motion state.Ultrasonic wave range accuracy under short distance and static state is also relatively high.Radar, camera and ultrasonic wave melt
Close the advantage for combining the two, the effective reliability for improving identification and precision.
The utility model combination multiple sensors and intelligent control algorithm, by forward-looking sensors and entire car controller algorithm knot
Collectively form a set of control system.Millimetre-wave radar can effectively and accurately judge the distance of front obstacle in opposite
Speed increases identification precision under static state and range in conjunction with ultrasonic radar and identifies without dead angle, in addition and camera into
Row data fusion can effectively judge the information of front obstacle, form the perception information input of system, ring as vehicle
Answer a kind of Rule of judgment of gas pedal volume production.
In this embodiment, the entire car controller is also used to the distance of speed and front obstacle according to current automobile
Predict automobile in the collision remaining time of barrier.
In this embodiment, the entire car controller is according to the distance of front obstacle and the input control vapour of gas pedal
The driving motor of vehicle and the electric brake system judge that the distance of the front obstacle is less than including the entire car controller
When first distance threshold value or the collision remaining time are less than first time threshold, the entire car controller is to the deceleration of electrons
System sends emergency brake signal.
In this embodiment, the entire car controller is according to the distance of front obstacle and the input control vapour of gas pedal
The driving motor of vehicle and the electric brake system judge that the distance of the front obstacle is less than including the entire car controller
When first distance threshold value or the collision remaining time are less than first time threshold, the entire car controller receives the acceleration
When the acceleration request of pedal, speed-up command is not sent to the driving motor.
In this embodiment, the entire car controller is according to the distance of front obstacle and the input control vapour of gas pedal
The driving motor of vehicle and the electric brake system judge that the distance of the front obstacle is greater than including the entire car controller
Equal to first distance threshold value and be less than second distance threshold value, and current vehicle speed be greater than speed threshold value when, the entire car controller
By the pedal travel value received multiplied by moderating ratio, the moderating ratio is less than 1, then according to the pedal multiplied by moderating ratio
Stroke value controls the driving motor.
In this embodiment, the moderating ratio includes speed quantization parameter and apart from quantization parameter, the speed quantization
Coefficient and be respectively less than 1 apart from quantization parameter, the entire car controller by the pedal travel value received multiplied by moderating ratio, including
The entire car controller searches the corresponding speed of current speed according to the mapping relations of preset speed and speed quantization parameter
Quantization parameter, according to preset distance and apart from the mapping relations of quantization parameter, search the current front obstacle away from
The quantization parameter with a distance from corresponding, by the pedal travel value received successively multiplied by the speed quantization parameter and the distance measurements
Change coefficient.
Therefore, there are three types of control functions for the control device for automobile accelerator of the utility model:
(1) AEB emergency braking function
It can actively slow down when vehicle will collide or active brake, i.e., the described entire car controller judge institute
It is described whole when stating the distance of front obstacle and being less than first distance threshold value or the collision remaining time less than first time threshold
Vehicle controller sends emergency brake signal to the electric brake system.
(2) accelerator anti-false step
The data of forward-looking sensors be can use plus the accelerating travel in the gas pedal short time, entire car controller can
To judge that the risk class existing for acceleration mode, entire car controller will quantify the acceleration amount and accelerator pedal value of accelerator pedal
In vain.When the i.e. described entire car controller judges that the distance of the front obstacle is less than first distance threshold value or the remaining collision
Between be less than first time threshold when, when the entire car controller receives the acceleration request of the accelerator pedal, not to the drive
Dynamic motor sends speed-up command.
Gas pedal is acquired in the form of analog quantity, from the entire stroke of 0-100% pedals.Entire car controller is preceding
It is each to 10ms to the frequency acquisition of analog quantity in the state of barrier depending on having, the average value that acquisition is 10 times, if value is greater than
80%.It is invalid that controller thinks that this time accelerates.
(3) accelerate and collision distance quantization function
Judgement by forward-looking sensors part to front obstacle, it can be determined that go out the vehicle that front will collide
, pedestrian or other barriers, it can be determined that go out the time that will be collided and distance, in this case can be according to forward sight
The obstacle information of judgement quantifies the gas pedal that driver steps on, and then controls car speed, prevents vehicle from overrunning and causes
Accident.The i.e. described entire car controller judge the front obstacle distance be more than or equal to first distance threshold value and less than second away from
From threshold value, and when current vehicle speed is greater than speed threshold value, the entire car controller is by the pedal travel value received multiplied by deceleration
Then coefficient, the moderating ratio control the driving motor according to multiplied by the pedal travel value of moderating ratio less than 1.
The application of control device for automobile accelerator is illustrated by taking bus system as an example below:
Bus is normally driven a vehicle, passing by humanoid horizontal arrive or when crossroad, it is super that camera adds millimetre-wave radar to add
Sonic sensor triplicity judge front there are pedestrian or vehicle, and distance in 10 meters (first distance threshold values) or
It can collide in person 2.7s (first time threshold).Driver can step on brake pedal in the case of vehicle, if driver steps on oil at this time
In the case of door pedal, entire car controller can be weighted and averaged 10 collected pedal values in 100ms, if obtain
Value is greater than 80%, is judged as the behavior of the driver and accelerates to be anxious, suddenly accelerates to be clearly present problem under such state, we can put
Abandon this time acceleration request of driver.
Another aspect entire car controller can carry out speed limit request to the vehicle under particular surroundings operating condition, such as speed 36KM/h
When (speed threshold value), there is stationary vehicle at front 100m (second distance threshold value), driver requests accelerator pedal to accelerate, at this time we
K value and P value, K*P=0.4 can be issued according to algorithm amount according to three's parameter, therefore it can be concluded that actual corresponding speed is request
40 percent.
For vehicle in the state of by static starting, 10 meters of front memory can not under pedestrian or vehicle, such state
Anxious acceleration is carried out, the risk of traffic accident is be easy to cause.
If speed quickly in the state of or normal driving in the state of, driver without accelerated motion and braking maneuver,
Or on-position is not in time, vehicle can activate AEB function to carry out vehicle deceleration or emergency braking at this time.
It is understood that each numerical value employed in the embodiment is example, and not as the utility model
Limitation, occurrence will be adjusted according to vehicle virtual condition.
Control device for automobile accelerator provided by the utility model, applied to the Throttle Opening Control of city low speed version automobile, tool
It has the advantages that:
(1) gas pedal Anti-mis-stepping function is increased on the basis of emergency braking AEB (automobile active safety technology),
It can be under driver's state of emergency and front is there are in the state of barrier, traffic caused by can rapidly stepping down to avoid throttle
Accident, sets aside some time and distance to AEB emergency braking；
(2) device is according in the case where there is barrier in front, can be according to speed and the relationship of barrier to the oil of response
Door pedal carries out scale smaller, and then the acceleration of vehicle response reduces, to avoid serious consequence.
In this description, the utility model is described with reference to its specific embodiment.But it is clear that still can be with
The spirit and scope that various modification can be adapted and converts without departing from the utility model.Therefore, the description and the appended drawings should be considered as
It is illustrative and not restrictive.
Claims (5)
1. a kind of control device for automobile accelerator, which is characterized in that including forward-looking sensors component, entire car controller, gas pedal
With throttle executive module, the forward-looking sensors component is set to the front of automobile, the forward-looking sensors component and the oil
Door pedal is connected with the input terminal of the entire car controller respectively, and the entire car controller acquires the forward-looking sensors component
Data and receive the pedal braking request signal of the gas pedal, the output end of the entire car controller and the throttle execution group
Part is connected.
2. control device for automobile accelerator according to claim 1, which is characterized in that the forward-looking sensors component includes taking the photograph
Picture head and millimetre-wave radar, the camera and the millimetre-wave radar are respectively arranged at the front of automobile, the full-vehicle control
The input terminal of device is connected with the camera and the millimetre-wave radar respectively, and the entire car controller is respectively from the camera shooting
Head and the millimetre-wave radar acquire data.
3. control device for automobile accelerator according to claim 2, which is characterized in that the forward-looking sensors component further includes
Ultrasonic radar, the ultrasonic radar are installed on the front of automobile, the input terminal of the entire car controller also with the ultrasound
Wave radar is connected, and the entire car controller also acquires data from the ultrasonic radar.
4. control device for automobile accelerator according to claim 1, which is characterized in that the throttle executive module includes automobile
Driving motor, the driving motor of the automobile is connected with the output end of the entire car controller.
5. control device for automobile accelerator according to claim 1, which is characterized in that the throttle executive module includes electronics
Braking system, the electric brake system are connected with the output end of the entire car controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920038391.4U CN209409817U (en) | 2019-01-09 | 2019-01-09 | A kind of control device for automobile accelerator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920038391.4U CN209409817U (en) | 2019-01-09 | 2019-01-09 | A kind of control device for automobile accelerator |
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| Publication Number | Publication Date |
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| CN209409817U true CN209409817U (en) | 2019-09-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920038391.4U Active CN209409817U (en) | 2019-01-09 | 2019-01-09 | A kind of control device for automobile accelerator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109532483A (en) * | 2019-01-09 | 2019-03-29 | 北京理工华创电动车技术有限公司 | A kind of control device for automobile accelerator and method |
| CN112622615A (en) * | 2020-12-28 | 2021-04-09 | 杭州电子科技大学 | Accelerator mistaken-stepping prevention and active braking system and active braking method thereof |
-
2019
- 2019-01-09 CN CN201920038391.4U patent/CN209409817U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109532483A (en) * | 2019-01-09 | 2019-03-29 | 北京理工华创电动车技术有限公司 | A kind of control device for automobile accelerator and method |
| CN112622615A (en) * | 2020-12-28 | 2021-04-09 | 杭州电子科技大学 | Accelerator mistaken-stepping prevention and active braking system and active braking method thereof |
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