CN106891890A - A kind of automobile active collision-avoidance system - Google Patents
A kind of automobile active collision-avoidance system Download PDFInfo
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- CN106891890A CN106891890A CN201710235023.4A CN201710235023A CN106891890A CN 106891890 A CN106891890 A CN 106891890A CN 201710235023 A CN201710235023 A CN 201710235023A CN 106891890 A CN106891890 A CN 106891890A
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/18—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact
- B60R19/20—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact containing mainly gas or liquid, e.g. inflatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of automobile active collision-avoidance system, injury of the unavoidable collision accident of burst to driver can be reduced and reduced.Including control module, pre-processing module, performing module and buffering energy-absorbing module, data acquisition module；Data acquisition module is used to gather the relative information of road surface lane information, this car information, front and back complaint message and Ben Che and front and back obstacle on the track of road surface；Pre-processing module sets up this car and road surface track vehicle distributed model under current state according to the information that data acquisition module is obtained；Control module judges whether risk of collision, and will collide divided rank according to the data after pre-processing module treatment, to performing module and buffering energy-absorbing module sends corresponding instruction for different brackets to reduce or collision free；Performing module sends alarm to driver, while brake activation system and steering perform corresponding operating；Moved out based on buffering energy-absorbing module and retraction mechanism.
Description
Technical field
The invention belongs to field of automobile safety, and in particular to a kind of automobile active collision-avoidance system, and in burst collision feelings
Protection device during condition.
Background technology
Along with the development of electronic technology and Internet technology, Hyundai Motor also develops towards intelligentized direction.Nobody
The target of the driving person that becomes automotive service.But in general-utility car towards in pilotless automobile evolution, intelligence
Auxiliary driving certainly exists longer time, as general-utility car to the excessive of pilotless automobile.Automobile active anticollision
It is then the most important composition in intelligence auxiliary driving.It is the guarantee of following pilotless automobile safety.
With being continuously increased for China's car ownership, traffic accident is also to increase year by year, is caused to society huge
Economic asset is lost.Announced according to national urban traffic accident information system, in the traffic accident for occurring, there is 65% accident
Category rear-end collision collision is caused.Wherein most do not reflect and had little time to take action and cause in time due to driver,
Automobile active anticollision is then particularly important.
Automobile active anticollision is before automobile will collide, alarm or executing agency to be sent in control to driver
Braking, deceleration measure are actively taken in the presence of device so as to the generation for preventing from colliding.However, existing active collision-avoidance system is
Simply according to sensor collection front vehicles are relative to the speed and distance of this car and then calculate possible with the presence or absence of collision.
When two vectors of relative distance and relative velocity are present compared with mitre collision judgment can be caused inaccurate, while before also have ignored
The influence of car acceleration.
Automobile active collision-avoidance system is also to need certain execution time, when automobile faces emergent obstacle,
Active collision-avoidance system is likely to cannot collision free.A kind of car collision avoidance System of application for a patent for invention (application number,
201510443395.7) can only be reacted for evitable collision accident, and burst collision can not be processed.Mesh
Before, also no active collision-avoidance system can reduce and reduce the wound of the unavoidable collision accident to driver of burst
Evil.
The content of the invention
To solve the deficiency that prior art is present, the present invention devises a kind of more comprehensive automobile active collision-avoidance system,
Can reduce and reduce injury of the unavoidable collision accident of burst to driver.
A kind of automobile active collision-avoidance system, including control module and respectively with the control module pre-treatment mould that is connected of communication
Block, performing module and buffering energy-absorbing module, the data acquisition module being connected with pre-processing module；
The data acquisition module is used to gather road surface lane information, this car information, front and back complaint message and this car
With relative information of the front and back obstacle on the track of road surface；
The pre-processing module sets up this car and road surface track under current state according to the information that data acquisition module is obtained
Vehicle distributed model；
The control module judges whether risk of collision according to the data after pre-processing module treatment, and according to touching
Time needed for hitting will collide divided rank, and corresponding instruction is sent to performing module and buffering energy-absorbing module for different brackets
With reduction or collision free；
The performing module sends alarm or provides the corresponding safe speed of human pilot and be available for deflecting to driver
Track, while brake activation system and steering perform corresponding operating, reduces or collision free；
Moved out and retraction mechanism based on the buffering energy-absorbing module, absorbed when cannot be avoided for colliding and buffering collision
The energy of generation.
Further, the data acquisition module includes millimetre-wave radar, Lane detection device and Ben Che sensors；
The millimetre-wave radar is installed on Auto front grille centre position, for detecting forward and backward side's obstacle relative to this car
Distance, speed, acceleration and the azimuth relative to this car；
The Lane detection device is provided with two, is separately mounted to automotive front both sides, for measuring road surface track
Number, lane width, the distance of track residing for this car and this spacing this track both sides lane line；
Described car sensor includes the wheel speed sensors based on ABS and the pressure sensor being installed at wheel, ABS
Wheel speed sensors are used to measure the speed and coefficient of road adhesion of this car, and pressure sensor is used to measure tire to ground just
Pressure.
Further, the pre-processing module receives the data of the data collecting module collected, and to data at
Reason, the determination position in track where the road surface lane line distribution situation gathered by the Lane detection device and Ben Che, then
With reference to this car speed that the wheel speed sensors are gathered, the model on road surface where this car is set up；The millimetre-wave radar is adopted again
Forward and backward side's obstacle of collection relative to the distance of this car, speed, acceleration and azimuth, carry out referential and be converted into be with road surface
Referential, then merged with the model on road surface where this car, can obtain this car and the distribution of road surface track vehicle under current state
Model.
Further, described car and road surface track vehicle distributed model are included：Residing for track B wide, Ben Che and obstacle
Track, this spacing left-hand lane linear distance A, this car longitudinal velocity Vy0, this car lateral velocity Vx0, this car longitudinal acceleration ay0, this
Car transverse acceleration ax0, Ben Che and target carriage fore-and-aft distance YiAnd lateral separation Xi, target carriage longitudinal velocity Vyi, target vehicle horizontal stroke
To speed Vxi, target vehicle longitudinal acceleration ayiAnd target vehicle transverse acceleration axi。
Further, the control module is used for the data message that the reception pre-processing module is transmitted, including this
Car and road surface track vehicle distributed model, coefficient of road adhesion and road surface normal pressure, obtain touching by processing data above
The time required to hitting, safety, primary dangerous, secondary risk now will be divided into by pavement state according to the length the time required to colliding
Four kinds of states are necessarily collided, while calculating corresponding safe speed when automobile is in secondary risk state and being available for driving
The track of member's deflecting.
Further, the performing module includes voice performing module, deceleration performing module, braking performing module and steering
Performing module；
The voice performing module is connected with vehicle audio, and occupies preferential right in sound equipment bus, and voice is performed
Module points out two kinds of functions comprising dangerous report of two parts function with counte-rplan, and function is reported in danger to be used to be examined in control module
Survey and send alarm to driver when colliding inevitable, it is primary danger that counte-rplan prompt facility is used for dangerous in car crass
When human pilot is provided should decelerate to and corresponding safe speed and be available for the track of deflecting；
The deceleration performing module receives the instruction from the control module, controls engine, clutch and speed changer,
Cooperated speed control under safe speed with braking performing module；
The braking performing module includes being formed on booster and with brake pedal the motorized motions of parallel relationship
Device, braking performing module receives the instruction from the control module, and control brakes is mutually assisted with deceleration performing module
Make speed control below safe speed；
The steering performing module receives the instruction from the control module, directly controls the electricity in steering booster
Machine, realizes the active steering of automobile, so as to the generation for avoiding being collided in this track.
Further, the buffering energy-absorbing module includes making contact part, connecting rod, two torque fluids for being used to buffer torque
Pressure energy absorption device, connector, two be used to buffering the normal pressure hydraulic energy absorption devices of normal pressure, connector by middle hinge with
Making contact part is connected, and two connecting rods are connected through the hinge in making contact part both sides respectively, each torque hydraulic pressure energy absorption device
Piston portion be connected with a connecting rod by hinge, and torque hydraulic pressure energy absorption device external cylinders part is fixed with connector
Connection, the piston portion of both sides normal pressure hydraulic energy absorption device is connected with connector, the outside of normal pressure hydraulic energy absorption device
Cylinder part is connected with the front longitudinal of automobile chassis.
Further, the torque hydraulic pressure energy absorption device can be replaced torque air pressure energy absorption device.
Further, the normal pressure hydraulic energy absorption device can be replaced normal pressure air pressure energy absorption device.
Compared with prior art, this active collision-avoidance system has advantages below：
One, the present invention is unified to road surface referential by position, speed, the referential of acceleration of Ben Che and his car, builds
Real-time road surface track vehicle distributed model is found, makes prediction of collision more accurate, the computing of controller is more simple and efficient；
Two, active crash energy absorption equipment is combined with active collision-avoidance system, compensate for existing active collision-avoidance system and exist
To vehicle and the not enough shortcoming of passenger protection in burst collision accident；
Three, this crash energy absorption equipment be can be recycled, and liquid (gas) pressure is prevented from when automobile occurs non-fully central collision
There is stuck phenomenon in energy absorption device.
Brief description of the drawings
Fig. 1 is the structural representation of automobile active collision-avoidance system of the invention；
Fig. 2 is vehicle distributed model figure in road surface track of the invention；
Fig. 3 is the structure diagram of crash energy absorption equipment of the invention；
Fig. 4 is the control method flow chart of automobile active collision-avoidance system of the invention；
Specific embodiment
Below will be by the way that example with reference be embodied, to specific embodiment of the invention and System Operation
Mode is described in further detail, and following examples are descriptive, is not limited, it is impossible to limit the present invention with this
Protection domain.
As shown in figure 1, the present invention is a kind of automobile active collision-avoidance system, including the pre-treatment mould being connected with control module
Block, performing module and buffering energy-absorbing module, the data acquisition module being connected with pre-processing module, wherein：
The data acquisition module includes millimetre-wave radar, Lane detection device and Ben Che sensors；
The millimetre-wave radar is installed on Auto front grille centre position, for detecting forward and backward side's obstacle relative to this car
Distance, speed, acceleration and the azimuth relative to this car；
The Lane detection device is provided with two, automotive front both sides (by headlight) is separately mounted to, for measuring
The distance of the number in road surface track, lane width, track residing for this car and this spacing this track both sides lane line；
Described car sensor includes the wheel speed sensors based on ABS and the pressure sensor being installed at wheel, ABS
Wheel speed sensors are used to measure the speed and coefficient of road adhesion of this car, and pressure sensor is used to measure tire to ground just
Pressure.
The pre-processing module receives the data for coming from data collecting module collected, and data are processed, and passes through
The road surface lane line distribution situation of Lane detection device collection and the determination position in track where Ben Che, in conjunction with ABS wheel speeds
This car speed of sensor collection, then can set up the model on road surface where this car, then the forward and backward side that millimetre-wave radar is gathered
Obstacle carries out referential and is converted into road surface as referential relative to the distance of this car, speed, acceleration and azimuth, then with this
The model on road surface is merged where car, can obtain this car and road surface track vehicle distributed model under current state；
Described car and road surface track vehicle distributed model are as shown in Fig. 2 wherein include track B wide, Ben Che and obstacle institute
Place track, this spacing left-hand lane linear distance A, this car longitudinal velocity Vy0(along the speed in lane line direction), this car lateral velocity
Vx0(speed in vertical lane line direction), this car longitudinal acceleration ay0, this car transverse acceleration ax0, Ben Che and target carriage longitudinal direction
Apart from YiAnd lateral separation Xi, target carriage longitudinal velocity Vyi, lateral velocity Vxi, longitudinal acceleration ayiAnd transverse acceleration axi。
The control module is used to receive the data message that pre-processing module is transmitted, including the distribution of road surface track vehicle
Model, coefficient of road adhesion and road surface normal pressure, the required time that collides is obtained by processing data above, is touched according to required
The length for hitting the time now pavement state will be divided into safety, primary dangerous, secondary risk and necessarily collide four kinds of states, while working as
Automobile calculates corresponding safe speed and is available for the track of driver's deflecting when being in secondary risk state；
Wherein, safe condition represented and collided under current driving states and will not occurred, and primary precarious position is represented current
Collision can occur under driving states, but be the secondary risk shape within driver's fully controllable time from the time that collision occurs
State is represented collides under current driving states and can occur, and shorter from the time that collision occurs, by driver's operation collision very
Difficulty is avoided, and when inevitable collision status refer to that collision cannot be avoided, such as obstacle can just occur typically under bursty state unexpected
Chinese herbaceous peony is appeared in, the manipulation time now is already below the time needed for the brake hard of this car.
The performing module receives the instruction from control module, comprising voice performing module, deceleration performing module, braking
Performing module and steering performing module；
The voice performing module is connected with vehicle audio, and occupies preferential right in sound equipment bus, and voice is performed
Module includes two parts function：Danger is reported and counte-rplan prompting, and danger is reported for detecting that collision can not in control module
Alarm is sent to driver when avoiding, counte-rplan are pointed out for providing human pilot in the dangerous danger for primary of car crass
Corresponding safe speed should be decelerated to and the track of deflecting is available for；
The deceleration performing module receives the instruction from control module, actively controls engine, clutch and speed change
Device, cooperates speed control under safe speed with braking performing module；
The braking performing module is included on booster the motorized motions dress installed and parallel relationship is formed with brake pedal
Put, it receives the instruction from control module, actively control brakes and cooperated speed control with deceleration performing module
System is below safe speed；
The performing module that turns to receives the motor instructed in directly control steering booster from control module, realizes
The active steering of automobile, so as to the generation for avoiding being collided in this track.
Moved out and retraction mechanism based on the buffering energy-absorbing module, for the liquid (gas) that can be recycled presses buffering energy-absorbing structure
Part, absorbs when cannot be avoided for colliding and buffering collides the energy for producing, and reaches the effect of protection passenger and vehicle.It is slow
Suction energy module is as shown in figure 3, including making contact part 3-1, hinge 3-2, connecting rod 3-3, two torque fluids for buffering torque
(gas) pressure energy absorption device 3-4, connector 3-5, the normal pressure liquid (gas) of two buffering normal pressures press energy absorption device 3-6, wherein connecting
Fitting 3-5 is connected by middle hinge with making contact part 3-1, and two connecting rod 3-3 are connected through the hinge in making contact respectively
The both sides of part 301, the piston portion of each torque fluid (gas) pressure energy absorption device 3-4 is connected by hinge with a connecting rod 3-3, and is turned
Square liquid (gas) pressure energy absorption device 3-4 external cylinders part is fixedly connected with connector 3-5, and both are without relative motion, both sides malleation
The piston portion of power liquid (gas) pressure energy absorption device 3-6 is connected with connector 3-5, normal pressure liquid (gas) pressure energy absorption device 3-6's
External cylinders part is connected with the front longitudinal of automobile chassis.
The operation principle of the crash energy absorption equipment is as follows, and when collision scenario, effect power onboard can be with letter
Active force as shown on the solid line in figure 3 is turned to, the active force can be equivalent to power and torque as shown in phantom in Figure 3, turned
Contact 3-1 rotates around middle hinge in the presence of square, and two torque fluids (gas) pressure energy absorption device 3-4 mono- is stretched, another
It is individual to be compressed, the effect of buffering energy-absorbing is reached, under the power effect shown in dotted line, contact promotes connector along vapour by hinge
Car lengthwise movement, normal pressure liquid (gas) pressure energy absorption device 3-6 completes energy-absorbing buffering effect.Crash energy absorption equipment with the addition of buffering and inhale
The part of torque is received, can effectively prevent the hydraulic means when vehicle occurs incomplete central collision from stuck phenomenon occurring, this buffering is inhaled
Energy device is arranged on car front beam, may replace the existing front bumper of automobile, and liquid (gas) presses energy absorber to be used with drive device
Stretched out when collision.
The control method flow of automobile active collision-avoidance system of the invention is as shown in figure 4, data collecting module collected is corresponding
Data, processed by pre-processing module and obtain road surface track vehicle distributed model, control module obtains colliding institute by calculating
Take time, and according to risk of collision is judged whether the time required to collision, monitoring is continued if in the absence of risk of collision, if depositing
Then it is differentiated in risk of collision, voice message has risk of collision and provides safety to driver when for primary danger
Speed or reversible lane, when for secondary risk, there is risk of collision in voice reminder driver, and executing agency takes the initiative and subtracts
Fast brake measure, when speed is reduced to a certain extent, turns to performing module controlled motor active steering to control module and calculates
In the safe track for going out, so that the generation of collision free, when collision cannot be avoided, voice module sends alarm, and brakes is adopted
Brake hard is taken, crash energy absorption equipment starts, it is dangerous for each if collision closes crash energy absorption equipment without occurring
After executive measure, control system can carry out corresponding feedback regulation.
Claims (9)
1. a kind of automobile active collision-avoidance system, it is characterised in that be connected including control module and respectively with control module communication
Pre-processing module, performing module and buffering energy-absorbing module, the data acquisition module being connected with pre-processing module；
The data acquisition module be used for gather road surface lane information, this car information, front and back complaint message and Ben Che with it is preceding
Relative information of the rear barrier on the track of road surface；
The pre-processing module sets up this car and road surface track vehicle under current state according to the information that data acquisition module is obtained
Distributed model；
The control module judges whether risk of collision according to the data after pre-processing module treatment, and according to collision institute
The time for needing will collide divided rank, and corresponding instruction is sent to subtract to performing module and buffering energy-absorbing module for different brackets
Small or collision free；
The performing module sends alarm or provides the corresponding safe speed of human pilot and be available for the track of deflecting to driver,
Brake activation system and steering perform corresponding operating simultaneously, reduce or collision free；
Moved out and retraction mechanism based on the buffering energy-absorbing module, absorbed when cannot be avoided for colliding and buffering collision is produced
Energy.
2. a kind of automobile active collision-avoidance system as claimed in claim 1, it is characterised in that the data acquisition module includes milli
Metre wave radar, Lane detection device and Ben Che sensors；
The millimetre-wave radar is installed on Auto front grille centre position, for detect forward and backward side's obstacle relative to this car away from
From, speed, acceleration and the azimuth relative to this car；
The Lane detection device is provided with two, is separately mounted to automotive front both sides, for measuring the individual of road surface track
Track residing for number, lane width, this car and the distance of this spacing this track both sides lane line；
Described car sensor includes the wheel speed sensors based on ABS and the pressure sensor being installed at wheel, ABS wheel speeds
Sensor is used to measure the speed and coefficient of road adhesion of this car, and pressure sensor is used to measure malleation of the tire to ground
Power.
3. a kind of automobile active collision-avoidance system as claimed in claim 2, it is characterised in that the pre-processing module receives described
The data of data collecting module collected, and data are processed, the road surface track gathered by the Lane detection device
The determination position in track where line distribution situation and Ben Che, in conjunction with this car speed of wheel speed sensors collection, sets up this
The model on road surface where car；The millimetre-wave radar is gathered forward and backward side's obstacle again relative to the distance of this car, speed, plus
Speed and azimuth, carry out referential and are converted into road surface as referential, then are merged then with the model on road surface where this car
Can obtain this car and road surface track vehicle distributed model under current state.
4. a kind of automobile active collision-avoidance system as claimed in claim 3, it is characterised in that described car and road surface track vehicle
Distributed model is included：Track B wide, track residing for Ben Che and obstacle, this spacing left-hand lane linear distance A, this car longitudinal velocity Vy0,
This car lateral velocity Vx0, this car longitudinal acceleration ay0, this car transverse acceleration ax0, Ben Che and target carriage fore-and-aft distance YiAnd it is horizontal
To apart from Xi, target carriage longitudinal velocity Vyi, target vehicle lateral velocity Vxi, target vehicle longitudinal acceleration ayiAnd target vehicle
Transverse acceleration axi。
5. a kind of automobile active collision-avoidance system as claimed in claim 2, it is characterised in that the control module is used for described connecing
Receive the data message that transmits of pre-processing module, including Ben Che and road surface track vehicle distributed model, coefficient of road adhesion and
Road surface normal pressure, the required time that collides is obtained by processing data above, will according to the length the time required to colliding
Now pavement state is divided into safety, primary dangerous, secondary risk and necessarily collides four kinds of states, while when automobile is in secondary danger
Corresponding safe speed is calculated during dangerous state and the track of driver's deflecting is available for.
6. a kind of automobile active collision-avoidance system as claimed in claim 2, it is characterised in that the performing module is held including voice
Row module, deceleration performing module, braking performing module and steering performing module；
The voice performing module is connected with vehicle audio, and occupies preferential right, voice performing module in sound equipment bus
Two kinds of functions are pointed out comprising the dangerous report of two parts function and counte-rplan, danger reports function for being touched in control module detection
Alarm is sent to driver when hitting inevitable, counte-rplan prompt facility is used to be carried in the dangerous danger for primary of car crass
Corresponding safe speed should be decelerated to for human pilot and be available for the track of deflecting；
The deceleration performing module receives the instruction from the control module, control engine, clutch and speed changer, with system
Dynamic performing module is cooperated speed control under safe speed；
The braking performing module includes being formed on booster and with brake pedal the Vidacare corp of parallel relationship,
Braking performing module receives the instruction from the control module, and control brakes is cooperated car with deceleration performing module
Speed control is below safe speed；
The steering performing module receives the instruction from the control module, directly controls the motor in steering booster, real
The active steering of existing automobile, so as to the generation for avoiding being collided in this track.
7. a kind of automobile active collision-avoidance system as claimed in claim 1, it is characterised in that the buffering energy-absorbing module includes touching
Hit contact, connecting rod, two be used to buffering the torque hydraulic pressure energy absorption device of torque, connector, two be used to buffer normal pressure
Normal pressure hydraulic energy absorption device, connector is connected by middle hinge with making contact part, and two connecting rods are connected by hinge respectively
Making contact part both sides are connected on, the piston portion of each torque hydraulic pressure energy absorption device is connected by hinge with a connecting rod, and
Torque hydraulic pressure energy absorption device external cylinders part is fixedly connected with connector, the piston portion of both sides normal pressure hydraulic energy absorption device
It is connected with connector, the external cylinders part of normal pressure hydraulic energy absorption device is connected with the front longitudinal of automobile chassis.
8. a kind of automobile active collision-avoidance system as claimed in claim 7, it is characterised in that the torque hydraulic pressure energy absorption device can
Replace with torque air pressure energy absorption device.
9. a kind of automobile active collision-avoidance system as claimed in claim 7, it is characterised in that the normal pressure hydraulic energy absorption device
Can be replaced normal pressure air pressure energy absorption device.
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