CN108791283B - A kind of driving pilot controller for driverless electric automobile - Google Patents
A kind of driving pilot controller for driverless electric automobile Download PDFInfo
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- CN108791283B CN108791283B CN201810467281.XA CN201810467281A CN108791283B CN 108791283 B CN108791283 B CN 108791283B CN 201810467281 A CN201810467281 A CN 201810467281A CN 108791283 B CN108791283 B CN 108791283B
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- 239000000523 sample Substances 0.000 claims abstract description 7
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008929 regeneration Effects 0.000 description 2
- 238000011069 regeneration method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
- B60W2422/70—Indexing codes relating to the special location or mounting of sensors on the wheel or the tire
-
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/20—Tyre data
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention belongs to unmanned fields, more particularly to a kind of driving pilot controller, it includes radar, rotary angle transmitter, speed probe, infrared distance measuring from sensor, judging unit, brake unit, steering unit and control unit, when each wheel loading is equal and is equal to preset value, actual steering track is overlapped with default turning track, it is accurate to turn to, and selects at this time while turning to and braking, velocity of rotation is by VkBecome V 'k, when the load-carrying of any two wheel is not identical or each loading capacity is equal but is not equal to preset value, actual steering track is not overlapped with default turning track, turns to inaccurate, is first braked, velocity of rotation is by VkChange to V "k, then turned to, velocity of rotation is by V "kChange to V " 'k.Pilot controller is driven according to the difference of deformations of tyre amount, by adjusting the revolving speed of wheel, realizes and the braking and steering of automobile is jointly controlled in the case where each wheel loading is uneven, achieved the effect that vehicle driving is stable.
Description
Technical field
The invention belongs to unmanned field, in particular to a kind of driving for driverless electric automobile assists control
Device.
Background technique
Known a variety of braking control systems for vehicle, automatically according to the risk collided between vehicle and barrier
Vehicle is braked, such as:
The patented product drive assistance device of Toyota Motor Corporation rep., it is mobile come operation based on dead angle surrounding enviroment
The brake of body avoids condition, is able to carry out driving auxiliary (the referenced patent document for being more in line with driver's feeling
CN103635946B)。
The patented product vehicle control system of Toyota Motor Corporation rep., in a manner of more meeting the intention of driver
To cancel automatic braking (referenced patent document CN105492262B).
The patented product braking control system of Toyota Motor Corporation rep. may collide simultaneously when being determined with the object
Start automatic braking, and is subsequently determined that the collision avoided by the steering operation of the driver with the object
When, compared to the feelings when the collision with the object is avoided by the steering operation of the driver
Condition, brake apparatus increase the duration of automatic braking, and set automatic system based on detected steering operation speed
The dynamic duration (referenced patent document CN101500865B).
The system that the patented product of Robert Bosch Co., Ltd realizes the optimal deceleration of vehicle using regenerative braking, base
The speed of target object is determined in the information from sensor, is determined the case where being not necessarily to the physical brake of the application vehicle
Under the maximum deceleration of vehicle that can be realized by the regeneration brake system, and determine and start the optimal of maximum regeneration braking
Braking point.(referenced patent document CN103946078B)
Summary of the invention
The present invention provides a kind of driving pilot controllers for driverless electric automobile, based on one or more
Factor from externalities traffic safety, braking to automobile and turning to carry out automatically, intelligence jointly control, so as to
Appropriate driving is carried out to assist and reliably ensure travel safety.
A kind of driverless electric automobile, comprising:
Wheel motor is arranged on four wheels of current vehicle；
Radar, for the first distance d between real-time measurement current vehicle and target vehicle1；
Angular transducer is arranged on the central point of current vehicle wheel, for monitoring the steering of current vehicle wheel
Angle [alpha]k；
Speed probe is arranged on the wheel motor of current vehicle wheel, for monitoring turning for current vehicle wheel
Dynamic speed Vk；
Infrared distance measuring is arranged on the central point of current vehicle wheel from sensor, for monitoring wheel central point
Second distance d between road surface2k, second distance d2kReflect the deformation quantity of tire, deformations of tyre amount reflects wheel loading；
Further include,
Pilot controller is driven, presets a normal conditions, current vehicle is in each wheel center nominally
The distance between point and road surface d2kThe load-carrying of=d, each wheel are mk, revolving speed be V 'k, when steering the steering angle of each wheel be αk,
Turning radius is rk, the centrifugal force of each wheel isWherein the load-carrying of each wheel and wheel center point and road surface it
Between distance between there is determining function corresponding relationship namely mk=f (d) is also deposited between each vehicle wheel rotational speed and steering angle
In determining function corresponding relationship namely V 'k=g (αk)；
It drives pilot controller and is signally attached to wheel motor, radar, angular transducer, speed probe, infrared ray survey
Range sensor；
As first distance d1When there is a possibility that colliding when less than the first value namely between two vehicles, auxiliary is driven
Controller is activated, and it is configured as:
(1) second distance d is obtained2k, velocity of rotation Vk；
(2) judge d2kSize；
(3) work as d2kWhen=d, namely in nominally, it is equal to default steering centrifugal force directly to centrifugal force at this time,
It is accurate to turn to, therefore directly to and by velocity of rotation when turning to by VkIt is adjusted to V 'k, work as d2k≠ d or any two tire
Deformation quantity it is not identical when, namely in the non-standard situation, directly to centrifugal force and default steering centrifugal force size not phase
Deng, it is not overlapped directly to track with default turning track, it is inaccurate directly to will lead to steering at this time, therefore first by each vehicle
The velocity of rotation of wheel is by VkIt is reduced to V "kCourse changing control is carried out again, wherein V "k=0.75Vk, when steering each wheel velocity of rotation
By V "kIt is adjusted to V " 'k；
Wherein, V " 'kCalculating process it is as follows:
Work as d2kWhen < d, enableIn the case where not changing turning operation track, according to identity
It obtains
Work as d2kWhen > d, enableIn the case where not changing turning operation track, according to identity
It obtains
Wherein m 'k=f (d2k), k=1,2,3,4.
The beneficial effects of the present invention are: difference of the pilot controller according to deformations of tyre amount, by adjusting the revolving speed of wheel,
It realizes and the braking and steering of automobile is jointly controlled in the case where each wheel loading is uneven, it is steady to have reached vehicle driving
Fixed effect.
Detailed description of the invention
Fig. 1 shows first distance and second distance schematic diagram；
Fig. 2 shows driving pilot controller control block diagrams.
Specific embodiment
With reference to the accompanying drawings, the function that the structure of this system is described in detail and is realized.
Wheel motor 1 is arranged on four wheels of current vehicle 2；
Radar 3, for the first distance d between real-time measurement current vehicle 2 and target vehicle 41；
Angular transducer 5 is arranged on the central point of 2 wheel of current vehicle, for monitoring turning for 2 wheel of current vehicle
To angle [alpha]k；
Speed probe 6 is arranged on the wheel motor 1 of 2 wheel of current vehicle, for monitoring 2 wheel of current vehicle
Velocity of rotation Vk；
Infrared distance measuring is arranged on the central point of 2 wheel of current vehicle, from sensor 7 for monitoring wheel center
Second distance d between point and road surface2k, second distance d2kReflect the deformation quantity of tire, deformations of tyre amount reflects wheel loading；
Further include:
Pilot controller 8 is driven, presets a normal conditions, current vehicle 2 is in each wheel nominally
The distance between heart point and road surface d2kThe load-carrying of=d, each wheel are mk, revolving speed be V 'k, when steering the steering angle of each wheel be
αk, turning radius rk, the centrifugal force of each wheel isThe wherein load-carrying of each wheel and wheel center point and road surface
The distance between there is determining function corresponding relationship namely mk=f (d), between each vehicle wheel rotational speed and steering angle
There are determining function corresponding relationship namely V 'k=g (αk)；
It drives pilot controller 8 and is signally attached to wheel motor 1, radar 3, angular transducer 5, speed probe 6, infrared
Line surveys range sensor 7；
As first distance d1When there is a possibility that colliding when less than the first value namely between two vehicles, auxiliary is driven
Controller 8 is activated；
Pilot controller 8 is configured as:
(1) second distance d is obtained2k, velocity of rotation Vk；
(2) judge d2kSize；
(3) work as d2kWhen=d, namely in nominally, it is equal to default steering centrifugal force directly to centrifugal force at this time,
It is accurate to turn to, therefore directly to and by velocity of rotation when turning to by VkIt is adjusted to V 'k, work as d2k≠ d or any two tire
Deformation quantity it is not identical when, namely in the non-standard situation, directly to centrifugal force and default steering centrifugal force size not phase
Deng, it is not overlapped directly to track with default turning track, it is inaccurate directly to will lead to steering at this time, therefore first by each vehicle
The velocity of rotation of wheel is by VkIt is reduced to V "kCourse changing control is carried out again, wherein V "k=0.75Vk, when steering each wheel velocity of rotation
By V "kIt is adjusted to V " 'k；
Wherein, V " 'kCalculating process it is as follows:
Work as d2kWhen < d, enableIn the case where not changing turning operation track, according to identity
It obtains
Work as d2kWhen > d, enableIn the case where not changing turning operation track, according to identity
It obtains
Wherein m 'k=f (d2k), k=1,2,3,4.
One skilled in the art would recognize that without departing substantially from the spirit and scope of the invention as generally describing,
Various variations and/or modification can be carried out to invention shown in each specific embodiment.Therefore, in terms of all
For, embodiment here is considered as illustrative and and non-limiting.Equally, the present invention includes any feature
Combination, the combination of any feature especially in Patent right requirement, even if the combination of this feature or feature is not in patent
It is explicitely stated in claim or each embodiment here.
Claims (1)
1. a kind of driverless electric automobile, comprising:
Wheel motor is arranged on four wheels of current vehicle；
Radar, for the first distance d between real-time measurement current vehicle and target vehicle1；
Angular transducer is arranged on the central point of current vehicle wheel, for monitoring the steering angle of current vehicle wheel
αk；
Speed probe is arranged on the wheel motor of current vehicle wheel, for monitoring the rotation speed of current vehicle wheel
Spend Vk；
Infrared distance measuring is arranged on the central point of current vehicle wheel from sensor, for monitoring wheel central point and road
Second distance d between face2k, second distance d2kReflect the deformation quantity of tire, deformations of tyre amount reflects wheel loading；
It is characterized in that,
Drive pilot controller, preset a normal conditions, current vehicle each wheel center point nominally with
The distance between road surface d2kThe load-carrying of=d, each wheel are mk, revolving speed be V 'k, when steering the steering angle of each wheel be αk, turn to
Radius is rk, the centrifugal force of each wheel isWherein between the load-carrying of each wheel and wheel center point and road surface
There is determining function corresponding relationship namely m between distancek=f (d), there is also true between each vehicle wheel rotational speed and steering angle
Fixed function corresponding relationship namely V 'k=g (αk)；
Drive pilot controller be signally attached to wheel motor, radar, angular transducer, speed probe, infrared distance measuring from
Sensor；
As first distance d1When there is a possibility that colliding when less than the first value namely between two vehicles, pilot controller is driven
It is activated, and it is configured as:
(1) second distance d is obtained2k, velocity of rotation Vk；
(2) judge d2kSize；
(3) work as d2kWhen=d, namely in nominally, it is equal to default steering centrifugal force directly to centrifugal force at this time, turns to
Accurately, therefore directly to and by velocity of rotation when turning to by VkIt is adjusted to V 'k, work as d2kThe shape of ≠ d or any two tire
It is unequal directly to centrifugal force and the default centrifugal force size that turns to when variable is not identical, namely in non-standard situation, directly
Turning track is connect not to be overlapped with default turning track, it is inaccurate directly to will lead to steering at this time, therefore first by each wheel
Velocity of rotation is by VkIt is reduced to V "kCourse changing control is carried out again, wherein V "k=0.75Vk, when steering each wheel velocity of rotation by V "k
It is adjusted to V " 'k；
Wherein, V " 'kCalculating process it is as follows:
Work as d2kWhen < d, enableIn the case where not changing turning operation track, according to identity
It obtains
Work as d2kWhen > d, enableIn the case where not changing turning operation track, according to identity
It obtains
Wherein m 'k=f (d2k), k=1,2,3,4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810467281.XA CN108791283B (en) | 2018-05-16 | 2018-05-16 | A kind of driving pilot controller for driverless electric automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810467281.XA CN108791283B (en) | 2018-05-16 | 2018-05-16 | A kind of driving pilot controller for driverless electric automobile |
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| Publication Number | Publication Date |
|---|---|
| CN108791283A CN108791283A (en) | 2018-11-13 |
| CN108791283B true CN108791283B (en) | 2019-11-05 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201961311U (en) * | 2011-02-18 | 2011-09-07 | 深圳精美精科技有限公司 | Auxiliary system for safe driving of automobile |
| CN102815298A (en) * | 2011-06-10 | 2012-12-12 | 现代摩比斯株式会社 | Control method for preventing vehicle collision |
| CN105073542A (en) * | 2013-04-01 | 2015-11-18 | 朴秀旼 | Automatic driving system for vehicle |
| US9656667B2 (en) * | 2014-01-29 | 2017-05-23 | Continental Automotive Systems, Inc. | Method for minimizing automatic braking intrusion based on collision confidence |
| JP2017128167A (en) * | 2016-01-19 | 2017-07-27 | 日立オートモティブシステムズ株式会社 | Vehicle control device |
| CN107226089A (en) * | 2017-04-14 | 2017-10-03 | 南京航空航天大学 | A kind of pilotless automobile collision avoidance strategy |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9896093B2 (en) * | 2015-09-15 | 2018-02-20 | Atieva, Inc. | Vehicle control system |
-
2018
- 2018-05-16 CN CN201810467281.XA patent/CN108791283B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201961311U (en) * | 2011-02-18 | 2011-09-07 | 深圳精美精科技有限公司 | Auxiliary system for safe driving of automobile |
| CN102815298A (en) * | 2011-06-10 | 2012-12-12 | 现代摩比斯株式会社 | Control method for preventing vehicle collision |
| CN105073542A (en) * | 2013-04-01 | 2015-11-18 | 朴秀旼 | Automatic driving system for vehicle |
| US9656667B2 (en) * | 2014-01-29 | 2017-05-23 | Continental Automotive Systems, Inc. | Method for minimizing automatic braking intrusion based on collision confidence |
| JP2017128167A (en) * | 2016-01-19 | 2017-07-27 | 日立オートモティブシステムズ株式会社 | Vehicle control device |
| CN107226089A (en) * | 2017-04-14 | 2017-10-03 | 南京航空航天大学 | A kind of pilotless automobile collision avoidance strategy |
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| Publication number | Publication date |
|---|---|
| CN108791283A (en) | 2018-11-13 |
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Effective date of registration: 20191012 Address after: 221400 north side of Mount Huangshan Road, North gully Town, Xinyi City, Xuzhou City, Jiangsu province (Wuxi Xinyi Industrial Park) Applicant after: Jiangsu tin Yi High-tech Zone Technology Development Co. Ltd. Address before: 230000 6 logistics Road Xinghai garden, Yaohai District, Hefei, Anhui. Applicant before: Yang De Xing |
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