CN103072575A - Initiative anti-collision method of vehicle - Google Patents

Abstract

The invention discloses an initiative anti-collision method of a vehicle. The initiative anti-collision method comprises the following steps of firstly judging whether the collision in a driveway can be avoided through automatic braking or not by a system when the driveway which is in risk of collision is monitored by the system; braking in the current driveway if judging that the collision in the current driveway can be avoided through the automatic braking, and sounding a warning; determining a steering angle of a steering wheel when the vehicle is in steering escape if judging that the collision can not be avoided through the automatic braking but can be avoided through the steering escape, and carrying out the steering escape based on the steering angle of the steering wheel; braking in the current driveway if judging that the collision cannot be avoided through the automatic braking and the automatic steering escape, and sounding a warning; and continuously monitoring the surrounding environment of the vehicle if judging that the risk is removed. According to the initiative anti-collision method disclosed by the invention, an automatic steering function is added on the basis of a traditional direct collision system, corresponding judgement is added by an algorithmic logic, and the vehicle collision is prevented from happening to the maximum.

Description

A kind of vehicle active anti-corrosion method

Technical field

The invention belongs to field of automobile safety, relate to the vehicle collision avoidance technology, be specifically related to a kind of collision-proof method with turning to the control function.

Background technology

Along with constantly popularizing of automobile, the automobile safety system market demand is increasing, and since electronic stabilizing control system came out, Proactive Security had entered the high speed epoch.The systems such as driveway deviation alarming system, blind spot detection system, Lane Keeping System, the automatic steering system of parking, anti-central collision system more and more have been subject to people's expectation.

Traditional anti-central collision system when detecting frontal collisions and can't avoid, can only reduce intensity with the front truck collision by self-actuating brake.Do so the loss that really can as far as possible avoid car accident to cause, but have simultaneously two problems: if one from the car rear immediately following have vehicle, self-actuating brake probably cause front vehicle with from car generation secondary collision, thereby cause a chain of collision case; Two, vehicle can only be judged the situation in this track, but often in the little place of vehicle flowrate, if the track, next door does not have car by auto-steering, can avoid the generation of accident fully.Therefore need to provide a kind of collision avoidance system with turning to the control function, to greatest extent the interior generation of avoiding vehicle collision accident.

Summary of the invention

The invention provides a kind of vehicle active anti-corrosion method with turning to the control function, collision risk is arranged in this track is judged by system and can't avoid the time, system turns to escape to be judged, seeks survival route by auto-steering.

Implementation of the present invention is as follows:

1, a kind of vehicle active anti-corrosion method may further comprise the steps:

(1) standby mode: the real-time detection collection judges in the same track whether with front truck collision risk is arranged from speed, acceleration/accel and the relative position information of car and surrounding vehicles: if judge without dangerous, continue step (1); If judging has collision risk, change step (2) over to;

(2) autobrake pattern:

(A) judge whether and can avoid colliding in this track by autobrake:

(a) if judge that autobrake can be avoided collision in this track, change step (B) over to;

(b) can't avoid collision if judge autobrake, but escape when avoiding colliding by turning to, turning angle of steering wheel when determining that Vehicular turn is escaped changes step (3) over to;

(c) can't avoid collision if judge autobrake, auto-steering is escaped in the time of also can't avoiding colliding, and changes step (B) over to;

(B) in this track, brake, and give a warning;

(3) auto-steering pattern: turning angle of steering wheel angle when determining in the step (2) that Vehicular turn is escaped turns to escape.

In described step (2) and the described step (3), if judge dangerous the releasing, change standby mode in the step (1) over to.

Described step (1) also comprises initialization step before, and whether the detection hardware status of equipment is good, if hardware device operation forward changes step (1) over to.

Also comprise interrupt step in described initialization step, waiting step, autobrake step and the auto-steering step, when the described equipment operation of monitoring is broken down, interrupt former algorithm, change failure mode over to.

In the step (a) based on the spacing S from car and front truck ₁And from car the first acceleration/accel and front truck acceleration/accel, judge whether the autobrake collision can avoid collision to occur in this track, may further comprise the steps:

1) calculating reduces speed now braking to stopping the required time fully from car from car with the first acceleration/accel;

2) calculate respectively in the braking time, from the stopping distance of car and the stopping distance of front truck, and calculate stopping distance poor of two cars;

3) more described spacing S ₁Poor with described stopping distance: if the difference of the stopping distance of two cars is less than spacing S ₁, judge that collision can be avoided in this track, brake with described the first acceleration/accel, and send warning; If the difference of the stopping distance of two cars is greater than spacing S ₁, judge in this track and can bump, change step (b) over to.

Described the first deceleration acceleration/accel is 0.7g, and g is acceleration due to gravity.

In the described step (b), may further comprise the steps: the setting vehicle forward direction is first direction, and second direction is perpendicular to described first direction setting,

I, the maximum steering wheel angle of determine escaping: maximum Vehicular turn angle when calculating Vehicular turn and escaping, and determine the maximum steering wheel angle angle that Vehicular turn is escaped based on described maximum Vehicular turn angle;

II, determine the collision scope: based on described maximum Vehicular turn angle and from the position relationship of car and adjacent lane target vehicle, calculating is escaped the track that travels to target vehicle and target vehicle when bumping from car, the displacement S of target vehicle from reference position to position of collision ₂, set simultaneously certain allowance γ, with (S ₂-γ, S ₂+ γ) as the collision scope;

III, based target vehicle speed, calculating turns to from car and escapes to the time period of target setting position, and target vehicle is along the displacement l of first direction _O2x

IV, more described displacement l _O2xWith described collision scope, if displacement l _O2xBe in the described collision scope, then judge to turn to when escaping, collide still inevitable; If displacement l _O2xDo not belong to described collision scope, judge according to determining in the step (I) that maximum steering wheel angle degree turns to escape.

Described step (I) may further comprise the steps:

1) calculates the vehicle minimum turning radius;

2) determine based on geometric relationship and described minimum turning radius corresponding to the maximum Vehicular turn of the car angle β number of degrees;

3) determine that based on described maximum vehicle corner described maximum steering wheel angle vehicle corner determines maximum steering wheel angle, described maximum vehicle corner and the described maximum steering wheel angle number of degrees are linear.

Described step (II) may further comprise the steps:

1) read from car and turn to when escaping, with the adjacent lane target vehicle on first direction and second direction distance from car apart from l ₁And b ₁

2) based on geometric relationship, calculate when vehicle and turn to escape with maximum Vehicular turn angle, when car travels track to target vehicle, along the displacement l of first direction ₂Described displacement S ₂Be described l ₁With described l ₂Sum.

Described step (III) may further comprise the steps:

1) based on geometric relationship, determines to turn to escaping distance from car;

2) when escaping from vehicle speed, the second acceleration/accel and described escaping distance l ₃Determine to turn to escape time t from car _Es

3) based on the described escape time t that turns to _EsAnd target vehicle velocity, determine the displacement l of the second vehicle _O2x

Described the second deceleration acceleration/accel is 0.7g, and g is acceleration due to gravity.

Beneficial effect of the present invention is as follows:

On the basis of the anti-central collision system of tradition, increased auto-steering function, and algorithm logic has increased corresponding judgement, when the place ahead collision is judged as direct self-actuating brake and can't avoids by system, system begins to survey and calculates whether have survival route on every side, after going out the path that to escape when system-computed, system just begins to start auto-steering function, thus the generation of avoiding accident of success.

Description of drawings

Fig. 1 is workflow diagram of the present invention;

Fig. 2 be in the same track autobrake constantly, from car and front truck driving trace scheme drawing;

When Fig. 3 escapes for turning to, from car and target vehicle driving trace scheme drawing;

When Fig. 4 is the Vehicular turn escape, Vehicular turn radius scheme drawing;

When Fig. 5 escapes for turning to, the driving path scheme drawing that bumps from car and target vehicle;

Fig. 6 is the constructional drawing of the embodiment of the invention;

Fig. 7 is the mode of operation transition graph of the embodiment of the invention.

The specific embodiment

As shown in Figure 1, a kind of vehicle active anti-corrosion method may further comprise the steps:

(1) standby mode: the real-time detection collection judges in the same track whether with front truck collision risk is arranged from speed, acceleration/accel and the relative position information of car and surrounding vehicles: if judge without dangerous, continue step (1); If judging has collision risk, change step (2) over to;

In the present embodiment, by monitoring front vehicle speed, judged whether collision risk, if the monitoring front truck speed of a motor vehicle reduces suddenly, then system is judged collision risk.

(2) autobrake pattern:

(A) judge whether and can avoid collision by autobrake in this track:

(a) if judge that autobrake can be avoided collision in this track, change step (B) over to;

(b) can't avoid collision if judge autobrake, but escape when avoiding colliding by turning to, turning angle of steering wheel when determining that Vehicular turn is escaped changes step (3) over to;

(c) can't avoid collision if judge autobrake, auto-steering is escaped in the time of also can't avoiding colliding, and changes step (B) over to;

(3) auto-steering pattern: turning angle of steering wheel angle when determining in the step (2) that Vehicular turn is escaped turns to escape.

Wherein, in the step (a) based on the spacing S from car and front truck ₁And from car the first acceleration/accel and front truck acceleration/accel, judge whether the autobrake collision can avoid collision to occur in this track, may further comprise the steps:

1) calculating begins braking from car with the first acceleration/accel, until stop the required time fully from car;

2) calculate respectively in the braking time, from the stopping distance S of car _ExAnd the stopping distance S of front truck _Ox, and calculate stopping distance poor of two cars;

3) with difference and the spacing S of the stopping distance of two cars ₁Compare: if the difference of the stopping distance of two cars is less than spacing S ₁, judge that collision can be avoided in this track, self-actuating brake, and send warning; If the difference of the stopping distance of two cars is greater than spacing S ₁, judge in this track and can bump.

Deterministic process is as follows: as shown in Figure 2, after automobile judges that collision risk is arranged, start automatic emergency brake system, this moment system to record from the car speed of a motor vehicle be V _Ex, setting the first deceleration acceleration/accel is a _Ex, the speed of a motor vehicle and the deceleration/decel of front vehicles are respectively V _O1x, a _O1x

1) system-computed begins braking from car, simultaneously until stop the required time fully from car when front truck begins to brake.System can know from vehicle velocity V via car speed sensor and radar observation system _ExWith acceleration/accel a _Ex, therefore, by formula V _O1x-a _O1xT=0 is as can be known from the car braking time

2) calculate when beginning braking from car in complete standing time, from car and target vehicle operating range separately.Hence one can see that

3) judge whether collision can be avoided in this track.Travel with current state respectively from car and front truck as can be known if analyze, if from car to overtake, from car stopping distance S _ExThe distance greater than the front truck travelling brake apart from S _O1xWith two car spacing S1, then the explanation collision is inevitable.

Therefore, work as S _Ex-S _O1x＜S ₁, judge that collision can avoid, this moment, system's autobrake and was carried out alarm;

Work as S _Ex-S _O1x〉=S ₁The time, judge and collide and can't avoid that can system will begin to calculate and escape by turning to this moment,

Change step (3) over to.

In the present embodiment, the first deceleration acceleration/accel a _ExSize be 0.7g, wherein g is Free Falling Object And Acceleration of Gravity.

In the step (b), based on deflection angle and from the position relationship of car and adjacent lane target vehicle, judge when Vehicular turn is escaped, whether collide with target vehicle: if collision is unavoidably braked in former track with all strength; Otherwise, turn to escape by definite steering angle.May further comprise the steps:

The setting vehicle forward direction is first direction, and second direction is perpendicular to described first direction setting, and as shown in the figure, in the present embodiment, first direction is the x direction, and second direction is the y direction.

I, the maximum steering wheel angle of determine escaping: maximum Vehicular turn angle when calculating Vehicular turn and escaping, and determine the maximum steering wheel angle angle that Vehicular turn is escaped based on described maximum Vehicular turn angle;

II, determine the collision scope: based on described maximum Vehicular turn angle and from the position relationship of car and adjacent lane target vehicle, calculating is escaped the track that travels to target vehicle and target vehicle when bumping from car, the displacement S of target vehicle from reference position to position of collision ₂, set simultaneously certain allowance γ, with (S ₂-γ, S ₂+ γ) as the collision scope;

III, based target vehicle speed, calculating turns to from car and escapes to the time period of target setting position, and target vehicle is along the displacement l of first direction _O2x

IV, more described displacement l _O2xWith described collision scope, if displacement l _O2xBe in the described collision scope, then judge to turn to when escaping, collide still inevitable; If displacement l _O2xDo not belong to described collision scope, judge according to determining in the step (I) that maximum steering wheel angle degree turns to escape.

In step (I), when Vehicle Driving Cycle, in the too high situation of the speed of a motor vehicle, if excessive will the causing of steering wheel angle breakked away or roll-over accident, therefore the restriction of maximum steering wheel angle should be arranged all for the different speed of a motor vehicle.Vehicle is when turning to, owing to be subject to the effect of centnifugal force, vehicle has the trend that sideslip occurs, and the value of this centnifugal force is relevant with the speed of a motor vehicle and turn radius, and the less then centnifugal force of turn radius is larger under the same speed of a motor vehicle; Simultaneously because the generation that the existence of friction force can suppress to break away, therefore under the identical speed of a motor vehicle, when centnifugal force system during greater than friction force, can obtain the minimum turning radius R of vehicle _Min, the maximum vehicle corner β of correspondence this moment _MaxAgain because steering wheel angle α and turn inside diameter radius and rear axle angle β are linear, i.e. β=k α; Wherein k can obtain according to the automobile dynamic quality relevant knowledge; Therefore, when choosing minimum turning radius R _MinDuring as the turn inside diameter radius, the Vehicular turn angle is maximum, also corresponding the maximum steering wheel angle number of degrees of vehicle.

Can guarantee in the situation that vehicle does not overturn as turning to the escape angle to escape when choosing maximum steering wheel angle, realize to greatest extent the Vehicular turn escape.

The steering wheel for vehicle steering locking angle is determined may further comprise the steps:

1) determines vehicle minimum turning radius R _Min

When being V from the car speed of a motor vehicle _ExWhen (not considering the speed of a motor vehicle in the vertical), the size of the centnifugal force that vehicle is suffered:

$F_G=\frac{m{V_{\mathrm{ex}}}^2}{R}$

At this moment, the big or small F of the suffered side-friction force of vehicle _f=μ mg:

If F _G=F _f, the radius of this moment is minimum turning radius R _MinSo, as can be known:

2) calculate maximum vehicle corner based on geometric relationship: when vehicle was escaped with minimum turning radius, this moment, the corner of vehicle corresponded to maximum vehicle corner β _Max

As shown in Figure 4, among the figure, l is vehicle antero posterior axis wheelbase, as seen from the figure,

$\sin \mathrm{\β}\max =\frac{\frac{1}{2}l}{R_{\min }};$

Namely $\sin \mathrm{\&beta;}\max =\frac{\mathrm{\&mu;gl}}{2{{\mathrm{<figure-callout\; id="2"\; label="V\; ex"\; filenames="HDA00002751107900051.png"\; state="\{\{state\}\}">V</figure-callout>}}_{\mathrm{ex}}}^2};$

So $\mathrm{\&beta;}\max ={\sin }^{-1}\frac{\mathrm{\&mu;gl}}{2{{\mathrm{<figure-callout\; id="2"\; label="V\; ex"\; filenames="HDA00002751107900051.png"\; state="\{\{state\}\}">V</figure-callout>}}_{\mathrm{ex}}}^2}.$

3) determine maximum steering wheel angle;

β=k α again

So can learn maximum steering wheel angle

In the step (II), displacement S ₂Determine may further comprise the steps:

1) read this moment from car and adjacent lane target vehicle on first direction and second direction apart from from car apart from l ₁And b ₁

2) when vehicle begins Turning travel with the β angle, based on geometric relationship, calculate when car travels track to target vehicle the displacement l from car along first direction ₂Described displacement S ₂Be described l ₁With described l ₂Sum.

Concrete computation process is as follows: as shown in Figure 5, suppose to carry out turning to escape from car, if when travelling to track, target vehicle place, just in time bump against with target vehicle, the vehicle escape path of this moment supposes that herein vehicle is that particle describes as shown in Figure 5.

From Fig. 5, can learn, according to geometric relationship, the displacement S of target vehicle ₂Comprise two segment distances: the target vehicle backwardness is from spacing l ₁With the displacement l along first direction from car ₂

Wherein, l ₁But size obtains via the detection system direct detection that is positioned at the radar sensor on the vehicle, displacement l ₂Concrete computation process is as follows:

According to Fig. 5 analysis as can be known: l ₂=b ₁Tan β, wherein β has calculated in the step (2) and has learnt for to turn to the escape angle from car, therefore, can know displacement S ₂Size.

Because we suppose that vehicle is that particle has been ignored the length of vehicle itself to the impact of collision, simultaneously in order to obtain a safer escape interval, need to be at l ₂The basis on increase certain safety factor γ (size of γ value depends on the result of system calibrating), the interval of therefore colliding scope is ((l ₁+ l ₂-γ), (l ₁+ l ₂+ γ)).

In the step (III), displacement l _O2xDetermine may further comprise the steps:

1) based on geometric relationship, determines to turn to escaping distance l from car ₃

2) when escaping from vehicle speed, the second acceleration/accel and escaping distance l ₃Determine to turn to escape time t from car _EsIn the present embodiment, described the second acceleration magnitude is 0.7g.

3) based on the described escape time t that turns to _EsAnd target vehicle velocity, determine the displacement l of target vehicle _O2x

The concrete analysis process is as follows: in order not disturb normally travelling of adjacent lane vehicle, and prevent that the situation that the adjacent lane chaufeur is not to be noted braked from the escape of car from occuring, so the target vehicle of system's supposition adjacent lane when calculating escape route is with V _O2xThe speed of a motor vehicle (a that at the uniform velocity travels _O2x=0).

As shown in Figure 4, wherein, l ₃For from car from escape into the required distance of travelling of adjacent lane, t from the track _EsFor from car from escape into the required time of travelling of adjacent lane from the track.V _O2xBe the speed of a motor vehicle of target vehicle, the second deceleration acceleration/accel is made as a _Ex1, in the present embodiment, the second deceleration acceleration/accel is 0.7g,, wherein g is Free Falling Object And Acceleration of Gravity.

By geometric relationship as can be known

Again by passing through apart from computing formula, as can be known

Hence one can see that:

$t_{\mathrm{es}}=\frac{-(-V_{\mathrm{ex}})-\sqrt{{(-V_{\mathrm{ex}})}^2-4\left(\frac{1}{2}{a}_{\mathrm{ex}}\right)\left(\frac{{\mathrm{<figure-callout\; id="1"\; label="b"\; filenames="HDA00002751107900041.png"\; state="\{\{state\}\}">b</figure-callout>}}_1}{\sin \mathrm{\&beta;}}\right)}}{2*\frac{1}{2}{a}_{\mathrm{<figure-callout\; id="1"\; label="ex"\; filenames="HDA00002751107900041.png"\; state="\{\{state\}\}">ex</figure-callout>}1}}=\frac{V_{\mathrm{ex}}-\sqrt{{\left(V_{\mathrm{ex}}\right)}^2-2\left(a_{\mathrm{ex}1}\right)\left(\frac{{\mathrm{<figure-callout\; id="1"\; label="b"\; filenames="HDA00002751107900041.png"\; state="\{\{state\}\}">b</figure-callout>}}_1}{\sin \mathrm{\&beta;}}\right)}}{a_{\mathrm{<figure-callout\; id="1"\; label="ex"\; filenames="HDA00002751107900041.png"\; state="\{\{state\}\}">ex</figure-callout>}1}};$

Because therefore the target vehicle of hypothesis adjacent lane at the uniform velocity travels the operating range of adjacent lane target vehicle

$l_{O2x}=V_{O2x}*t_{O2x}=V_{O2x}*t_{\mathrm{es}}=V_{O2x}*\frac{V_{\mathrm{ex}}-\sqrt{{\left(V_{\mathrm{ex}}\right)}^2-2\left(a_{\mathrm{ex}1}\right)\left(\frac{{\mathrm{<figure-callout\; id="1"\; label="b"\; filenames="HDA00002751107900041.png"\; state="\{\{state\}\}">b</figure-callout>}}_1}{\sin \mathrm{\&beta;}}\right)}}{a_{\mathrm{<figure-callout\; id="1"\; label="ex"\; filenames="HDA00002751107900041.png"\; state="\{\{state\}\}">ex</figure-callout>}1}};$

Therefore, escaping in the time of adjacent lane from car, if the target vehicle of adjacent lane is along first direction operating range l _O2x∈ ((l ₁+ l ₂-γ), (l ₁+ l ₂+ γ)), think so and can't escape by auto-steering, otherwise, then carry out auto-steering according to selected steering wheel angle and escape.

More than be in the present embodiment, system is judged when collision risk is arranged, concrete method of operation and algorithm deterministic process.

Among the embodiment, also comprise dangerous releasing determining step in step (2) and the step (3) therein, if dangerous releasing is judged by system, change standby mode in the step (1) over to.If system the autobrake pattern with turn in the pattern, the condition of the generation danger before judging is removed, and then changes in the standby mode of step (1).

Among the embodiment, step (1) also comprises initialization step before therein, and whether the detection hardware status of equipment is good in the initialization step, if hardware device operation forward then changes step (1) over to, carries out anti-collision monitoring.

Among the embodiment, also comprise interrupt step in above-mentioned initialization step, waiting step, autobrake step and the auto-steering step therein, when the described equipment operation of system monitoring is broken down, interrupt former algorithm, change failure mode over to.

Below in conjunction with automobile hardware device and working state of system transition graph to above-mentioned collision-proof method with turning to the control function

Principle of work be further expalined.

As shown in Figure 6, a kind of collision avoidance system with turning to the control function comprises the Body control module, instrument display, electronic stabilizing control system ESC, the EPS of electronic power assist steering system, sensor assembly and the environment detection module that link to each other with bus CAN respectively.

Wherein, sensor assembly comprises yaw angle sensor YAW-RATE, wheel speed sensing Speed-Sensor and the steering wheel angle sensor SAS that links to each other with bus respectively.YAW-RATE is for the yaw velocity that provides to system when vehicle in front; Speed-Sensor is used for informing the current speed of a motor vehicle; SAS is used for the current steering wheel angle of detection vehicle, the athletic posture of monitor vehicle, and calculate needed steering wheel angle value during system's auto-steering.

The environment detection module comprises radar detected module and the camera module that links to each other with bus respectively.

Radar module comprises that three specifications are the radar of 77GHZ, be used for surveying from the location information of car and surrounding vehicles and the velocity information of surrounding vehicles, wherein the control module of native system is integrated in the control module of front radar, be used for the data that reception ﹠ disposal environment detection module and sensor assembly transmit, according to the definite safe condition from car of above-mentioned data, send the instruction of warning, deceleration, brake and auto-steering to system in good time.

In the radar module, front radar is arranged in the front logo rear of vehicle, each is 0 ± 3 ° to axis angle with vehicle, rear radar (left side) is arranged in the rear bumper rear, with the longitudinal direction of car axis angle be 40 ± 3 °, rear radar (right side) also is arranged in the rear bumper rear, also is 40 ± 3 ° with the longitudinal direction of car axis angle.To guarantee to realize the monitoring to from the car surrounding environment.

Camera module comprises two cameras, and the backup radar module monitors is from the running environment of car, and camera (left side) is arranged in outside rear-view mirror below, left side, unlapped other left field of radar before and after covering; Side camera (right side) is arranged in outside rear-view mirror below, left side, unlapped other right side area of radar before and after covering.

The environment of the sensor module and environment detection module perception vehicle periphery by the data that sensor assembly and environment detection module are surveyed, is realized other vehicle in 360 ° of scopes around car is monitored.

Body control module comprises the car body controller that links to each other with bus and the system closing button that links to each other with car body controller respectively, brake lamp control module and steering indicating light control module.When the passenger selects not need to open collision avoidance system, can close this system by the system closing button; Cause danger in system's judgement Vehicle Driving Cycle process, in the time of need to avoiding danger by car brakeing, system lights brake lamp by the brake lamp control module, and prompting occupant vehicle is about to emergency braking; Judging when system need to be when turning to avoid danger, and except lighting brake lamp, system is also by the steering indicating light control module, the steering indicating light of respective side when opening Vehicular turn, and the navigating mate of other vehicles is about to turn to from car around the prompting.

The ESC system is used for sending accekeration according to system control module in the front radar, carries out autobrake; The EPS system carries out auto-steering for the steering wheel angle value of sending according to system control module in the front radar.

The instrument display effect mainly is to realize that according to the instruction of control module native system carries out man-machine mutual demonstration.

When the said system specific works, the mode of operation transition graph as shown in Figure 7.Wherein, each condition in the state transition diagram sees following form for details.

When starting from car, when the point fire screen was in the IGN gear, system began to carry out initialization and carries out self check.System is in the process of carrying out hardware check, and the not under command light flicker is pointed out the occupant carrying out system hardware and detected.If when the faults such as total line dropout, hard error appearred in system to system by network monitor, system withdrawed from initialize mode, and changes failure mode over to.If after confirming that hardware device is in normal condition, the system initialization process is finished, the failure warning lamp extinguishes, and the prompting vehicle arrangement is normal, and system starts working, and enters standby mode.

In the standby mode, sensor assembly and environment monitoring module are to monitoring from the car surrounding environment, when system travels normally via the data judgement surrounding vehicles that sensor assembly and environment monitoring module transmit, when the place ahead does not detect danger, proceed standby mode, in this process, when system the faults such as total line dropout, hard error occur by network monitor to system, change failure mode over to.Normally travel if surrounding vehicles is judged by system, do not detect the place ahead and danger occurs, continue to carry out standby mode.

In above initialize mode and standby mode, if pressing, the passenger closes button, require system closing, then system goes to " shut " mode", and shows the printed words of " collision avoidance system is closed " by instrument display, and this system of prompting passenger closes.

In standby mode, if after the information that system's processing the place ahead radar and other equipment provide, the judgement meeting bumps with front truck, system changes the autobrake pattern over to.

In the autobrake pattern, if when the fault such as total line dropout, hard error appears in system to system by network monitor, will show " collision avoidance system fault " by the instrument display display instrument, change failure mode over to.If detecting danger, when the danger that system surveys in judgement the place ahead can be avoided colliding by autobrake or the place ahead can't avoid collision also can't avoid collision by auto-steering by braking, system continues the autobrake pattern, the ESC system sends accekeration according to system control module in the front radar, carry out autobrake in former track, and in instrument display demonstration " autobrake sign ", simultaneously, light brake lamp, navigating mate in the prompting car, the vehicle forward is carried out autobrake.Judge current danger when system and be disengaged, need not to proceed braking or when turning to, then change in the standby mode, continue normally to travel.

In the autobrake pattern, if system judges frontal collisions and can't avoid fully by self-actuating brake, after but system-computed turns to the steering wheel angle and deceleration/decel of escape, judge in the time of can avoiding colliding by the mode of auto-steering, system changes the auto-steering pattern over to.

In the auto-steering pattern, if when the fault such as total line dropout, hard error appears in system to system by network monitor, will show " collision avoidance system fault " by the instrument display display instrument.If judging to pass through, system turns to when escaping, the steering wheel angle value that the EPS system sends according to system control module in the front radar and deceleration/decel turn to and brake, simultaneously, instrument display shows " auto-steering sign ", light brake lamp, and open the steering indicating light of respective side, remind respectively the navigating mate of outer other vehicles of passenger and Che, be about to turn to from car; If system judges current danger and is disengaged, need not to proceed braking or when turning to, then change in the standby mode, continue normally to travel.

Above-mentioned description to embodiment is can understand and apply the invention for the ease of those skilled in the art.The person skilled in the art obviously can easily make various modifications to above-described embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art are according to announcement of the present invention, and not breaking away from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.

Claims (10)

1. vehicle active anti-corrosion method is characterized in that: may further comprise the steps,

(1) standby mode: the real-time detection collection judges in the same track whether with front truck collision risk is arranged from speed, acceleration/accel and the relative position information of car and surrounding vehicles: if judge without dangerous, continue step (1); If judging has collision risk, change step (2) over to;

(2) autobrake pattern:

(A) judge whether and can avoid colliding in this track by autobrake:

(a) if judge that autobrake can be avoided collision in this track, change step (B) over to;

(b) can't avoid collision if judge autobrake, but escape when avoiding colliding by turning to, turning angle of steering wheel when determining that Vehicular turn is escaped changes step (3) over to;

(c) can't avoid collision if judge autobrake, auto-steering is escaped in the time of also can't avoiding colliding, and changes step (B) over to;

(B) in this track, brake, and give a warning;

(3) auto-steering pattern: turning angle of steering wheel angle when determining in the step (2) that Vehicular turn is escaped turns to escape.

2. vehicle active anti-corrosion method according to claim 1 is characterized in that: in described step (2) and the described step (3), if judge dangerous the releasing, change standby mode in the step (1) over to.

3. vehicle active anti-corrosion method according to claim 1, it is characterized in that: described step (1) also comprises initialization step before, and whether the detection hardware status of equipment is good, if hardware device operation forward changes step (1) over to.

4. vehicle active anti-corrosion method according to claim 1, it is characterized in that: also comprise interrupt step in described initialization step, waiting step, autobrake step and the auto-steering step, when the described equipment operation of monitoring is broken down, interrupt former algorithm, change failure mode over to.

5. vehicle active anti-corrosion method according to claim 1 is characterized in that: in the step (a) based on the spacing S from car and front truck ₁And from car the first acceleration/accel and front truck acceleration/accel, judge whether the autobrake collision can avoid collision to occur in this track, may further comprise the steps,

1) calculating reduces speed now braking to stopping the required time fully from car from car with the first acceleration/accel;

2) calculate respectively in the braking time, from the stopping distance of car and the stopping distance of front truck, and calculate stopping distance poor of two cars;

3) more described spacing S ₁Poor with described stopping distance: if the difference of the stopping distance of two cars is less than spacing S ₁, judge that collision can be avoided in this track, brake with described the first acceleration/accel, and send warning; If the difference of the stopping distance of two cars is greater than spacing S ₁, judge in this track and can bump, change step (b) over to.

6. vehicle active anti-corrosion method according to claim 1, it is characterized in that: in the described step (b), may further comprise the steps, the setting vehicle forward direction is first direction, second direction is perpendicular to described first direction setting,

I, the maximum steering wheel angle of determine escaping: maximum Vehicular turn angle when calculating Vehicular turn and escaping, and determine the maximum steering wheel angle angle that Vehicular turn is escaped based on described maximum Vehicular turn angle;

II, determine the collision scope: based on described maximum Vehicular turn angle and from the position relationship of car and adjacent lane target vehicle, calculating is escaped the track that travels to target vehicle and target vehicle when bumping from car, the displacement S of target vehicle from reference position to position of collision ₂, set simultaneously certain allowance γ, with (S ₂-γ, S ₂+ γ) as the collision scope;

III, based target vehicle speed, calculating turns to from car and escapes to the time period of target setting position, and target vehicle is along the displacement l of first direction _O2x

IV, more described displacement l _O2xWith described collision scope, if displacement l _O2xBe in the described collision scope, then judge to turn to when escaping, collide still inevitable; If displacement l _O2xDo not belong to described collision scope, judge according to determining in the step (I) that maximum steering wheel angle degree turns to escape.

7. vehicle active anti-corrosion method according to claim 6, it is characterized in that: described step (I) may further comprise the steps,

1) calculates the vehicle minimum turning radius;

2) determine based on geometric relationship and described minimum turning radius corresponding to the maximum Vehicular turn of the car angle β number of degrees;

3) determine that based on described maximum vehicle corner described maximum steering wheel angle vehicle corner determines maximum steering wheel angle, described maximum vehicle corner and the described maximum steering wheel angle number of degrees are linear.

8. vehicle active anti-corrosion method according to claim 6, it is characterized in that: described step (II) may further comprise the steps,

1) read from car and turn to when escaping, with the adjacent lane target vehicle on first direction and second direction distance from car apart from l ₁And b ₁

2) based on geometric relationship, calculate when vehicle and turn to escape with maximum Vehicular turn angle, when car travels track to target vehicle, along the displacement l of first direction ₂Described displacement S ₂Be described l ₁With described l ₂Sum.

9. vehicle active anti-corrosion method according to claim 6, it is characterized in that: described step (III) may further comprise the steps,

1) based on geometric relationship, determines to turn to escaping distance from car;

2) when escaping from vehicle speed, the second acceleration/accel and described escaping distance l ₃Determine to turn to escape time t from car _Es

3) based on the described escape time t that turns to _EsAnd target vehicle velocity, determine the displacement l of the second vehicle _O2x

10. according to claim 4 or 10 described vehicle active anti-corrosion methods, it is characterized in that: the size of described the first deceleration acceleration/accel and described the second deceleration acceleration/accel is 0.7g, and g is acceleration due to gravity.

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