CN101767539B - Automobile cruise control method and cruise device - Google Patents
Automobile cruise control method and cruise device Download PDFInfo
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- CN101767539B CN101767539B CN 200810242156 CN200810242156A CN101767539B CN 101767539 B CN101767539 B CN 101767539B CN 200810242156 CN200810242156 CN 200810242156 CN 200810242156 A CN200810242156 A CN 200810242156A CN 101767539 B CN101767539 B CN 101767539B
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Abstract
An automobile cruise control method and a cruise device utilize an optical signal detection device to detect whether a steering lamp of a side vehicle on a bypass is turned on or not; when the steering lamp of the side vehicle is turned on, the speed of the side vehicle is detected by using a speed detector; a controller calculates the difference between the speed of a main vehicle and the speed of the side vehicle, and the difference is compared with the preset safe speed difference; when the calculated difference is less than the safe speed difference, an alarm is given for emergency braking; when the calculated difference is more than the safe speed difference, deceleration and braking are carried out to ensure that the automobile can keep the safe distance with the front vehicle, i.e. a new target vehicle as soon as possible; particularly when the calculated difference is far more than the safe speed difference, any measure is unnecessarily taken. The automobile cruise control method and the cruise device can accurately handle the condition according to the overtaking and lane-changing of the side vehicle, thereby effectively improving the usability and flexibility of the cruise device.
Description
Technical field
The present invention relates to a kind of automobile cruise control method and cruising device.
Background technology
Existing intelligent cruise system when vehicle is arranged suddenly from the lane change of side line hypervelocity, tends to take the emergency braking measure, so not only can affect the service life of vehicle, also can cause psychological pressure and spiritual anxiety to the car owner because of emergency braking.When the vehicle on the side road was overtaken other vehicles with very high speed lane change, emergency braking there is no need fully in addition.
Summary of the invention
One object of the present invention be to overcome existing cruise system can't according to the side vehicle overtake other vehicles and the road situation is made the shortcoming of accurate reply, a kind of automobile cruise control method is provided.
According to a kind of automobile cruise control method of the present invention, wherein said cruising device comprises distance measuring equipment (DME), controller, car speed sensor, actuating unit, described distance measuring equipment (DME), car speed sensor and actuating unit link to each other with controller respectively, wherein, described cruising device also comprises optical signal detecting device and the speed measuring device that links to each other with described controller respectively, and described control method may further comprise the steps:
(1) described distance measuring equipment (DME) detects the distance between main car and the target vehicle and this range signal is sent to described controller;
(2) described controller judges that whether this distance is less than the safety distance of setting;
(3) if the determination result is NO, whether then described optical signal detecting device detects main car side vehicle the steering indicating light signal;
(4) if testing result is yes, then described speed measuring device detects the side car speed and this speed signal is sent to described controller;
(5) described controller judges that whether the difference of this velocity amplitude and main vehicle speed value is less than the safety speed difference of setting.
Another object of the present invention provides a kind of Cruising device for car.
According to a kind of Cruising device for car of the present invention, comprise distance measuring equipment (DME), controller, car speed sensor, actuating unit, described distance measuring equipment (DME), car speed sensor and actuating unit link to each other with controller respectively, wherein, described cruising device comprises that also described optical signal detecting device links to each other with described controller respectively with speed measuring device for detection of the optical signal detecting device of main car side Vehicular turn modulating signal with for detection of the speed measuring device of main car side car speed.
Automobile cruise control method provided by the invention and cruising device, whether the steering indicating light that can utilize the optical signal detecting device to detect the side vehicle on the side road is opened, when the steering indicating light of side vehicle is opened, utilize speed measuring device to detect the speed of side vehicle, controller calculates the difference of main vehicle speed and side car speed and this difference and the safety speed difference of setting is in advance compared, when the difference that calculates during less than the safety speed difference, then give the alarm and emergency braking; When the difference that calculates during greater than the safety speed difference, then can slow down or brake with assurance and front vehicles at this moment be that new target vehicle reaches safety distance as early as possible, when the difference that especially calculates is far longer than the safety speed difference, can not take any measure fully.Automobile cruise control method provided by the invention and cruising device, can according to the side vehicle overtake other vehicles and the road situation make accurate reply, Effective Raise usability and the alerting ability of cruising device.
Description of drawings
Fig. 1 is the structural representation of a kind of embodiment of Cruising device for car of the present invention;
Fig. 2 is a kind of control flow chart of embodiment of the control method of Cruising device for car of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the present invention are elaborated.
According to one embodiment of the present invention, as shown in Figure 2, a kind of control method of Cruising device for car, wherein, as shown in Figure 1, cruising device comprises distance measuring equipment (DME) 2, controller 1, car speed sensor 4, actuating unit 3, distance measuring equipment (DME) 2, car speed sensor 4 and actuating unit 3 link to each other with controller 1 respectively, wherein, cruising device also comprises optical signal detecting device 5 and the speed measuring device 6 that links to each other with controller 1 respectively, and control method may further comprise the steps:
(1) distance between the target vehicle in the distance measuring equipment (DME) 2 main cars of detection and the place ahead also sends to controller 1 with this range signal;
(2) controller 1 judges that whether this distance is less than the safety distance of setting;
(3) if the determination result is NO, whether then optical signal detecting device 5 detects main car side vehicle the steering indicating light signal;
(4) if optical signal detecting device 5 detects the steering indicating light signal, then speed measuring device 6 detects the side car speed and this speed signal is sent to controller 1;
(5) controller 1 judges that whether the difference of this velocity amplitude and main vehicle speed value is less than the safety speed difference of setting.
Wherein, step (3) further comprises:
If (3-1) judged result is yes, then controller 1 control actuating unit 3 slows down or brakes.
Step (4) further comprises:
If (4-1) testing result is no, then return step (1).
Step (5) further comprises:
If the result who (5-1) judges is yes, then report to the police and emergency braking;
If the result who (5-2) judges is no, then controller 1 control actuating unit 3 slows down or brakes.
Wherein, controller 1 is used for judging calculating and making corresponding control command with the action of control actuating unit 3 according to the various signals that detect, controller 1 can for various control chips with this function or micro controller system etc., be preferably vehicle-mounted ECU (electronic control unit).
Distance measuring equipment (DME) 2 is used for measuring the distance between main car and the target vehicle, can for various known are used in detect on the mobile device and the place ahead mobile device between the equipment of measuring distance of distance, for example can be range only radar, utilize the radar surveying distance to be the basic application of radar, as well known to those skilled in the art.
Actuating unit 3 comprises brake equipment, accelerator control device, brake equipment and accelerator control device are vehicle-mounted brake equipment and accelerator control device, brake equipment is used for controlling car brakeing, and accelerator control device is used for controlling the throttle size and regulates car speed with this.Further, actuating unit 3 also comprises gear adjusting device, and the gear that is used for receiving the instruction of controller 1 and regulates vehicle is controlled the speed of vehicle with this.
Car speed sensor 4 is used for detecting the current vehicle speed of main car, can be the various known sensors that can be used for measurement of vehicle speed.This car speed sensor 4 can directly be bought and obtain.
Optical signal detecting device 5 is used for detecting the steering indicating light signal of side vehicle, and this signal is sent to controller 1.Optical signal detecting device 5 can be various suitable light measurers; such as optical signal receiver; when steering indicating light lights; steering indicating light can send a kind of optical signal (all being the approximately gold-tinted of 580nm of wavelength usually) of fixed frequency usually; when optical signal receiver receives the signal close with predeterminated frequency (being the frequency of steering indicating light gold-tinted); this signal can be sent to controller 1; judgement by controller 1 is confirmed whether it is the steering indicating light signal; for example: judge what whether this frequency signal continued; as continuing 1000 milliseconds; when this frequency signal is to continue, then think gold-tinted, namely steering indicating light lights.
Optical signal detecting device 5 and speed measuring device 6 can be installed together, also can be installed separately, structure according to vehicle itself is rationally determined its installation site, as long as can guarantee to detect steering indicating light signal and side car speed, as: optical signal detecting device 5 and speed measuring device 6 are installed near the car light position of vehicle left back together.
Cruising device also comprises button switch further, as the control main switch that cruises, recovery switch etc.When automobile during at running on expressway, start the control main switch that cruises after, even chaufeur is not stepped on acceleration pedal, automobile still can keep driving functions automatically by the desirable speed of a motor vehicle of chaufeur.When vehicle was in cruising condition, if continue to press the recovery switch, then speed increased during this period, in case not according to recovering switch, just with that moment speed of a motor vehicle constant speed drive, this is for accelerating function for vehicle.Equally, slow down during this period, the speed of a motor vehicle constant speed drive when breaking away from the recovery switch with hand, this is deceleration.The speed of a motor vehicle of cruising that chaufeur can also directly be wished by the configuration switch input.If depress brake pedal or the manipulation control main switch that cruises, then can automatically terminate cruise function.Travel if cruise because of braking.Then again press the recovery switch, the speed of a motor vehicle of cruising before can recovering to remove.
Utilize distance measuring equipment (DME) 2 to detect distance between main car and the target vehicle in the step (1), this step method therefor is as well known to those skilled in the art.
The safety distance of setting in the step (2) can be when main car stops fully under the current vehicle speed the shortest needed stopping distance, this safety distance can be according to the different speed of a motor vehicle and difference, also can be the longest needed stopping distance under the different speed of a motor vehicle, for example can be 150 meters.
In step (3), when the distance value that detects in the step (1) less than safety distance the time, controller 1 sends instruction to actuating unit 3, and actuating unit 3 slows down or brake operating accordingly according to the instruction that receives; When the distance value that detects in the step (1) more than or equal to safety distance the time, then main car can cruise according to the speed of this moment and travel, and simultaneously, whether optical signal detecting device 5 constantly detects main car side vehicles the steering indicating light signal.
In step (4), when the vehicle that optical signal detecting device 5 does not detect main car side in the step (3) had the steering indicating light signal, then main car can cruise according to the speed of this moment and travel; When the vehicle that optical signal detecting device 5 detects main car side in the step (3) has the steering indicating light signal, think that then the side vehicle will be overtaken other vehicles and the road, at this moment, speed measuring device 6 begins to detect the moving velocity of side vehicle and this velocity amplitude is sent to controller 1.
In step (5), controller 1 calculates the difference between the velocity amplitude of the velocity amplitude of the side vehicle that speed measuring device 6 detects and main car, and the size between the safety speed difference of relatively this difference and setting.The speed difference of two cars when the safety speed difference of this setting is side vehicle safety and road for example can be 30 kilometer per hours.
Further comprise in step (5): when drawing two vehicle speed differences less than the safety speed difference set in the step (5), controller 1 control warning device then is such as buzzer warning and withdraw from and cruise.When drawing two vehicle speed differences more than or equal to the safety speed difference set in the step (5), then controller 1 control actuating unit 3 slows down or brakes.When the side vehicle surpasses main car and enters track, main car place, take former side vehicle be present front vehicles as target vehicle and repeating step (1) to step (5).
As shown in Figure 2, the control process of a kind of Cruising device for car of the present invention is as follows:
At first, when the speed of a motor vehicle of main car reaches requiring of cruising, chaufeur is pressed the control main switch that cruises, automobile can enter cruising condition, distance between the target vehicle in the distance measuring equipment (DME) 2 main cars of detection and the place ahead also sends to controller 1 with this range signal at this moment, controller 1 relatively should distance and the safety distance of setting between size, when this distance less than safety distance the time, brake equipment braking or accelerator control device that controller 1 sends in the instruction control actuating unit slow down, until the distance between two cars reaches safety distance.When this distance more than or equal to safety distance the time, whether optical signal detecting device 5 detects main car side vehicle has the steering indicating light signal to judge with this whether the side vehicle overtakes other vehicles and the road intention, when optical signal detecting device 5 does not detect the steering indicating light signal, think that then the side vehicle is not overtaken other vehicles and the road intention, main car keeps cruising condition; When optical signal detecting device 5 detects the steering indicating light signal, think that then the side vehicle is overtaken other vehicles and the road intention, this moment, speed measuring device 6 began to detect the speed of side vehicle and this velocity amplitude is sent to controller 1, controller 1 calculates the also relatively safety speed difference of this difference and the setting comparison of difference between this velocity amplitude and the main vehicle speed value, if the speed difference of two cars is less than the safety speed difference, then buzzer warning and emergency braking; If the speed difference of two cars is more than or equal to the safety speed difference, then the brake equipment braking or the accelerator control device that send in the instruction control actuating unit of controller 1 slows down, if the speed difference of two cars is far longer than the safety speed difference, can not control then that actuating unit slows down or braking and to keep cruising condition constant.After the side vehicle surpassed main car and enters the track at main car place, main car entered next cruise Control take current front vehicles as target vehicle.
Claims (9)
1. the control method of a Cruising device for car, wherein said cruising device comprises distance measuring equipment (DME), controller, car speed sensor, actuating unit, described distance measuring equipment (DME), car speed sensor and actuating unit link to each other with controller respectively, wherein, described cruising device also comprises optical signal detecting device and the speed measuring device that links to each other with described controller respectively, and described control method may further comprise the steps:
(1) described distance measuring equipment (DME) detects the distance between main car and the target vehicle and this range signal is sent to described controller;
(2) described controller judges that whether this distance is less than the safety distance of setting;
(3) if the determination result is NO, whether then described optical signal detecting device detects main car side vehicle the steering indicating light signal;
(4) if testing result is yes, then described speed measuring device detects the side car speed and this speed signal is sent to described controller;
(5) described controller judges that whether the difference of this velocity amplitude and main vehicle speed value is less than the safety speed difference of setting;
If the result who (5-1) judges is yes, then report to the police and emergency braking;
If the result who (5-2) judges is no, then described controller control actuating unit slows down or brakes.
2. control method according to claim 1 is characterized in that, described control method also comprises: when (6) surpassed main car and enter track, main car place when the side vehicle, main car was take current front vehicles as new target vehicle.
3. control method according to claim 2 is characterized in that, described step (3) also comprises: if (3-1) judged result is yes, then described controller control actuating unit slows down or brakes.
4. control method according to claim 3 is characterized in that, described step (4) also comprises: if (4-1) testing result is no, then return step (1).
5. control method according to claim 4 is characterized in that, the optical signal detecting device is optical signal receiver in the described step (3).
6. control method according to claim 5 is characterized in that, speed measuring device is velocity radar in the described step (4).
7. control method according to claim 6 is characterized in that, described actuating unit comprises brake equipment, accelerator control device.
8. Cruising device for car, comprise distance measuring equipment (DME), controller, car speed sensor, actuating unit, described distance measuring equipment (DME), car speed sensor links to each other with controller respectively with actuating unit, it is characterized in that, described cruising device also comprises for detection of the optical signal detecting device of main car side Vehicular turn modulating signal with for detection of the speed measuring device of main car side car speed, described optical signal detecting device links to each other with described controller respectively with speed measuring device, described controller receives the main car of described distance measuring equipment (DME) detection and the range signal between the target vehicle, and judges that whether this distance is less than the safety distance of setting; If the determination result is NO, whether then described optical signal detecting device detects main car side vehicle the steering indicating light signal; If testing result is yes, then described speed measuring device detects the side car speed and this speed signal is sent to described controller; Described controller judges that whether the difference of this velocity amplitude and main vehicle speed value is less than the safety speed difference of setting; If the result who judges is yes, then report to the police and emergency braking; If the result who judges is no, then described controller control actuating unit slows down or brakes.
9. cruising device according to claim 8 is characterized in that, described actuating unit comprises brake equipment, accelerator control device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200810242156 CN101767539B (en) | 2008-12-30 | 2008-12-30 | Automobile cruise control method and cruise device |
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| CN 200810242156 CN101767539B (en) | 2008-12-30 | 2008-12-30 | Automobile cruise control method and cruise device |
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| CN101767539B true CN101767539B (en) | 2013-01-02 |
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| CN108928295A (en) * | 2018-06-25 | 2018-12-04 | 蔡易洁 | Anti-collision hits alarm function System and method for, and the electric carrier using the method |
| CN109177975B (en) * | 2018-07-23 | 2021-04-30 | 威马智慧出行科技（上海）有限公司 | Integrated cruise system exit method and device |
| EP4163175A1 (en) * | 2018-10-31 | 2023-04-12 | Robert Bosch GmbH | Method and apparatus for controlling cruise control |
| CN109727273B (en) * | 2018-12-29 | 2020-12-04 | 北京茵沃汽车科技有限公司 | Moving target detection method based on vehicle-mounted fisheye camera |
| CN110103955B (en) * | 2019-04-28 | 2021-04-23 | 浙江吉利控股集团有限公司 | Vehicle early warning method and device and electronic equipment |
| CN110053614A (en) * | 2019-05-15 | 2019-07-26 | 长春师范大学 | A kind of Vehicular intelligent cruising device based on mobile internet |
| CN111547055B (en) * | 2020-04-29 | 2022-08-30 | 浙江吉利汽车研究院有限公司 | Method and device for controlling distance between vehicles, electronic equipment and storage medium |
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