CN103303239B - anti-collision control device and method - Google Patents
anti-collision control device and method Download PDFInfo
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- CN103303239B CN103303239B CN201310228295.3A CN201310228295A CN103303239B CN 103303239 B CN103303239 B CN 103303239B CN 201310228295 A CN201310228295 A CN 201310228295A CN 103303239 B CN103303239 B CN 103303239B
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Abstract
The invention discloses a kind of Anti-collision control device and method, belong to field of vehicle safety. Described Anti-collision control device includes: distance detection device, fuzzy controller, anti-collision controller and brake gear, distance detection device is for detecting the distance between vehicle and objects in front in real time, and calculates the distance changing value within this period according to the distance of detection in default a period of time; Fuzzy controller is for obtaining the control rule table prestored, and distance and distance changing value is mated with control rule table, and obtains controlled quentity controlled variable; Anti-collision controller is used for obtaining brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear and brakes. The present invention brakes by then controlling brake gear when controlled quentity controlled variable is the first preset value and brake pedal is in the state not depressed, thus avoiding the generation of collision accident.
Description
Technical field
The present invention relates to technical field of vehicle safety, particularly relate to a kind of Anti-collision control device and method.
Background technology
Along with the development of auto industry and improving constantly of people's living standard, worldwide vehicle gets more and more, the problems such as the vehicle accident caused by vehicle increase also can get more and more therewith, according to statistics, in all of vehicle accident, automobile collision accident (includes the collision of car car and car and fixture collision) and accounts for the 60～70% of vehicle accident. Wherein, automobile collision accident is because that road speed is too fast, vehicular gap is too small mostly, the brake factor such as not in time causes, and this accident is easiest to occur under driver tired driving, the environment such as state and rain, snow, mist such as absent minded.
At present, the preventing collision of vehicles collision device on market is adopt radar emission ultrasonic listening front-and-rear vehicle distance mostly, the just warning reminding driver when spacing is less. Such device, when vehicle is when traffic light intersection, congested in traffic environment low speed follow-up and in time stopping, will produce false alarm phenomenon. Additionally, driver is only played suggesting effect by this device in vehicle travel process, can not automatically be braked the collision that process is avoided facing, this device is after reminding driver, driver starts the response time obvious difference of braking deceleration, especially new hand, if braking deceleration will cause the generation of collision accident not in time, and then brings serious loss to oneself or other people.
Summary of the invention
The present invention provides a kind of Anti-collision control device and method, to solve driver in driving vehicle processes, it is impossible to automatically avoid the problems such as encountered collision.
Specifically, embodiments provide a kind of Anti-collision control device, described Anti-collision control device, including: distance detection device, fuzzy controller, anti-collision controller and brake gear, wherein, distance detection device, for detecting the distance between vehicle and objects in front in real time, and calculate the distance changing value within default a period of time according to the distance of detection in default a period of time, distance and distance changing value are supplied to fuzzy controller; Fuzzy controller, for obtaining the control rule table prestored, and distance and distance changing value are mated with control rule table, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, control signal corresponding for controlled quentity controlled variable is supplied to anti-collision controller; Anti-collision controller, for receiving the control signal that fuzzy controller provides, and obtain brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear and brake.
Additionally, embodiments provide a kind of anti-collision control method, described anti-collision control method, including: utilize distance detection device to detect the distance between vehicle and objects in front in real time, and calculate the distance changing value within default a period of time according to the distance of detection in default a period of time, distance and distance changing value are supplied to fuzzy controller; Fuzzy controller is utilized to obtain the control rule table prestored, and distance and distance changing value are mated with control rule table, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, control signal corresponding for controlled quentity controlled variable is supplied to anti-collision controller; Utilize anti-collision controller to receive the control signal that fuzzy controller provides, and obtain brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear and brake.
The technical scheme that the embodiment of the present invention provides has the benefit that
The control rule table prestored is obtained by fuzzy controller, and distance and distance changing value are mated with control rule table, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, the control signal that fuzzy controller provides is received again through anti-collision controller, and obtain brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear and brake. Solve driver in driving vehicle processes, can not automatically avoid the problems such as encountered collision, only need to inquire about the control rule table stored to obtain controlled quentity controlled variable and brake automatically controlling brake gear further, it is achieved thereby that accurately controlling and automatically controlling vehicle collision avoidance, and ensure that real-time, it is to avoid the generation of collision accident.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, and can be practiced according to the content of description, and in order to the above and other purpose of the present invention, feature and advantage can be become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail as follows.
Accompanying drawing explanation
Fig. 1 is the main frame block diagram of the Anti-collision control device that one embodiment of the invention provides;
Fig. 2 is the main frame block diagram of the Anti-collision control device that another embodiment of the present invention provides;
Fig. 3 is the main frame block diagram of the Anti-collision control device that further embodiment of the present invention provides;
Fig. 4 is the method flow diagram of the anti-collision control method that one embodiment of the invention provides.
Detailed description of the invention
For further setting forth that the present invention reaches technological means and effect that predetermined goal of the invention is taked, below in conjunction with accompanying drawing and preferred embodiment, to according to the present invention propose Anti-collision control device and its detailed description of the invention of method, structure, feature and effect, describe in detail as after.
For the present invention aforementioned and other technology contents, feature and effect, can clearly present in following cooperation describes in detail with reference to graphic preferred embodiment. By the explanation of detailed description of the invention, when can be reach technological means that predetermined purpose takes and effect is able to more deeply and concrete understanding to the present invention, however institute's accompanying drawings be only to provide with reference to and purposes of discussion, be not used for the present invention is any limitation as.
Refer to Fig. 1, it illustrates the main frame block diagram of the Anti-collision control device that one embodiment of the invention provides. Described Anti-collision control device, including: distance detection device 101, fuzzy controller 103, anti-collision controller 105 and brake gear 107.
More specifically, distance detection device 101, for detecting the distance between vehicle and objects in front in real time, and calculate the distance changing value within this default a period of time according to the distance of detection in default a period of time, distance and distance changing value are supplied to fuzzy controller 103.
Distance detection device 101 can adopt radar range finder to launch ultrasound examination to the distance between vehicle and objects in front. Certainly, in embodiments of the present invention, distance detection device 201 can also adopt other detection equipment according to actual needs. If objects in front is also other objects such as vehicle, then the distance detected refers to the distance between the headstock of vehicle and the tail end (tailstock of such as vehicle) of objects in front.
Default a period of time can be the arbitrary time span preset. Preset the difference between distance and the distance before a period of time that the distance changing value in a period of time can be current time.
Fuzzy controller 103, it is connected with distance detection device 101 and anti-collision controller 105, for obtaining the control rule table prestored, and the distance and distance changing value according to control rule table and distance detection device 101 offer obtains controlled quentity controlled variable, control signal corresponding for controlled quentity controlled variable is supplied to anti-collision controller 105.
Control rule table can be the mapping table of distance, distance changing value and controlled quentity controlled variable.
Fuzzy controller 103, it is possible to the distance and the distances changing value that provide distance detection device 101 mate with the control rule table prestored, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table.
Anti-collision controller 105, it is connected with fuzzy controller 103 and brake gear 107, for receiving the control signal that controller 105 provides, and obtain brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear 107 and brake.
Brake gear 107 can be existing any braking brake equipment of vehicle.
Brake pedal state in which includes the state depressing or not depressing, if being in the state depressed, then it represents that vehicle has been taken emergency brake, if not depressing, then it represents that vehicle is not braked.
In sum, the Anti-collision control device that the present embodiment provides, the control rule table prestored is obtained by fuzzy controller, and distance and distance changing value are mated with control rule table, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, the control signal that fuzzy controller provides is received again through anti-collision controller, and obtain brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear and brake. Solve driver in driving vehicle processes, can not automatically avoid the problems such as encountered collision, only need to inquire about the control rule table stored to obtain controlled quentity controlled variable and brake automatically controlling brake gear further, it is achieved thereby that accurately controlling and automatically controlling vehicle collision avoidance, and ensure that real-time, it is to avoid the generation of collision accident.
Refer to Fig. 2, it illustrates the main frame block diagram of the Anti-collision control device that another embodiment of the present invention provides. Fig. 2 improves on the basis of Fig. 1. Described Anti-collision control device, including: distance detection device 201, fuzzy controller 203, anti-collision controller 205 and brake gear 207.
More specifically, distance detection device 201, for detecting the distance between vehicle and objects in front in real time, and calculate the distance changing value within this default a period of time according to the distance of detection in default a period of time, distance and distance changing value are supplied to fuzzy controller 203.
Distance detection device 201 can adopt radar range finder to launch ultrasound examination to the distance between vehicle and objects in front. Certainly, in embodiments of the present invention, distance detection device 201 can also adopt other detection equipment according to actual needs. If objects in front is also other objects such as vehicle, then the distance detected refers to the distance between the headstock of vehicle and the tail end (tailstock of such as vehicle) of objects in front.
Default a period of time can be the arbitrary time span preset. Preset the difference between distance and the distance before a period of time that the distance changing value in a period of time can be current time.
Fuzzy controller 203, it is connected with distance detection device 201 and anti-collision controller 205, for obtaining the control rule table prestored, and the distance and distance changing value according to control rule table and distance detection device 201 offer obtains controlled quentity controlled variable, control signal corresponding for controlled quentity controlled variable is supplied to anti-collision controller 205.
Control rule table can be the mapping table of distance, distance changing value and controlled quentity controlled variable.
Fuzzy controller 203, it is possible to the distance and the distances changing value that provide distance detection device 201 mate with the control rule table prestored, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table.
Anti-collision controller 205, it is connected with fuzzy controller 203 and brake gear 207, for receiving the control signal that controller 205 provides, and obtain brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear 207 and brake.
Brake gear 207 can be existing any braking brake equipment of vehicle.
Brake pedal state in which includes the state depressing or not depressing, if being in the state depressed, then it represents that vehicle has been taken emergency brake, if not depressing, then it represents that vehicle is not braked.
Preferably, described Anti-collision control device, it is also possible to including: prior-warning device 209.
Prior-warning device 209 can be speaker, display screen, display lamp etc.
Speaker is for issuing out sound, display screen for showing that under the control of anti-collision controller 205 early warning information, display lamp for sending the light of different colours to point out driver under the control of anti-collision controller 205 in the control of anti-collision controller 205.
First preset value of controlled quentity controlled variable also may indicate that making anti-collision controller 205 control prior-warning device carries out anticollision early warning to point out driver to brake, and automatically control brake gear 207 and brake.
Anti-collision controller 205, being additionally operable in the controlled quentity controlled variable that control signal is corresponding is the first preset value (such as numerical value 3) and when brake pedal is in the state not depressed, control prior-warning device 209 and carry out anticollision early warning to point out driver to brake, and automatically control brake gear 207 and brake.
The display screen that such as can control prior-warning device 209 shows the early warning information of " must brake ", or the speaker controlling prior-warning device 209 sends sound " must brake ", or control display lamp sends red light to point out driver to brake.
In sum, the Anti-collision control device that the present embodiment provides, the control rule table prestored is obtained by fuzzy controller, and distance and distance changing value are mated with control rule table, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, the control signal that fuzzy controller provides is received again through anti-collision controller, and obtain brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear and brake. Solve driver in driving vehicle processes, can not automatically avoid the problems such as encountered collision, only need to inquire about the control rule table stored to obtain controlled quentity controlled variable and brake automatically controlling brake gear further, it is achieved thereby that accurately controlling and automatically controlling vehicle collision avoidance, and ensure that real-time, it is to avoid the generation of collision accident.
In addition, the present embodiment can send early warning signal to point out driver to carry out corresponding anticollision operation also by arranging prior-warning device, thus enabling a driver to find potential risk of collision in advance, the more response time is striven for for driver, plenty of time can be had potential danger is taked correct methods measure, it is to avoid the generation of collision accident.
Refer to Fig. 3, it illustrates the main frame block diagram of the Anti-collision control device that further embodiment of the present invention provides. Fig. 3 improves on the basis of Fig. 2. Described Anti-collision control device, including: distance detection device 301, fuzzy controller 303, anti-collision controller 305 and brake gear 307.
More specifically, distance detection device 301, for detecting the distance between vehicle and objects in front in real time, and calculate the distance changing value within this default a period of time according to the distance of detection in default a period of time, distance and distance changing value are supplied to fuzzy controller 303.
Distance detection device 301 can adopt radar range finder to launch ultrasound examination to the distance between vehicle and objects in front. Certainly, in embodiments of the present invention, distance detection device 301 can also adopt other detection equipment according to actual needs. If objects in front is also other objects such as vehicle, then the distance detected refers to the distance between the headstock of vehicle and the tail end (tailstock of such as vehicle) of objects in front.
Default a period of time can be the arbitrary time span preset. Preset the difference between distance and the distance before a period of time that the distance changing value in a period of time can be current time, it is 10 meters that the such as previous second records the distance between vehicle and objects in front, it is 5 meters that current time records the distance between vehicle and objects in front, then in 1 second, distance changing value is-5 meters.
Fuzzy controller 303, it is connected with distance detection device 301 and anti-collision controller 305, for obtaining the control rule table prestored, and the distance and distance changing value according to control rule table and distance detection device 301 offer obtains controlled quentity controlled variable, control signal corresponding for controlled quentity controlled variable is supplied to anti-collision controller 305.
Control rule table can be the mapping table of distance, distance changing value and controlled quentity controlled variable.
Fuzzy controller 303, it is possible to the distance and the distances changing value that provide distance detection device 301 mate with the control rule table prestored, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table.
Further, fuzzy controller 303 includes fuzzy set and domain is determined module 303a, Fuzzy processing module 303b and controls rule and determine module 303c.
Fuzzy set and domain determine module 303a, for determining distance and the domain of distance changing value, and determine the fuzzy set on the domain of distance and distance changing value.
Assuming that distance is for D, distance changing value is ED, will carry out discretization respectively can obtain respective domain apart from D, distance changing value ED, specifically can adjust the distance according to practical situation or experience and distance changing value carries out discretization, for instance, the domain of distance D can be divided into 8 grades: { 0,5,10,15,20,25,30,35}, the domain of distance changing value ED is divided into 15 grades: {-7 ,-6,-5 ,-4 ,-3 ,-2 ,-1,0,1,2,3,4,5,6,7}; Wherein, the unit of the element in the domain of distance D and distance changing value ED is rice. Element in the domain of distance changing value ED is that negative number representation distance diminishes, and is that positive number represents that distance becomes big. If it is 10 meters that the such as previous second records the distance between vehicle and objects in front, it is 5 meters that current time records the distance between vehicle and objects in front, then in 1 second, distance changing value is-5 meters, namely corresponding to the element-5 in distance changing value ED domain.
Can also be determined according to practical situation or experience when determining the fuzzy set on the domain of distance D and distance changing value ED, for instance, it is possible to the fuzzy set of distance D is divided into 4 grades, is expressed as with vocabulary: { zero (ZO), just little (PD), hits exactly (PM), honest (PB) }, it is properly termed as { zero (ZO), just little (PD), center (PM), honest (PB) } for domain { 0,5,10,15,20,25, fuzzy set on 30,35}. The fuzzy set of distance changing value ED can be divided into 7 grades, be expressed as with vocabulary: negative big (NB), in negative (NM), negative little (ND), zero (ZO), just little (PD), hits exactly (PM), honest (PB) }, it is possible to it is called that { negative big (NB), in negative (NM), negative little (ND), zero (ZO), just little (PD), hits exactly (PM), honest (PB) } for domain {-7,-6 ,-5 ,-4 ,-3 ,-2,-1,0,1,2,3, fuzzy set on 4,5,6,7}. Certainly, in embodiments of the present invention, the fuzzy set of distance D and the fuzzy set of distance changing value ED can also be divided into and be different from above-mentioned gear number.
Additionally, fuzzy set and domain determine module 303a, it is also possible to controlled quentity controlled variable is carried out divided rank and obtains the domain of controlled quentity controlled variable, and determine the fuzzy set on the domain of controlled quentity controlled variable. Assume that controlled quentity controlled variable is U, then the domain of controlled quentity controlled variable U can be divided into 4 grades: { 0,1,2,3}, the fuzzy set of controlled quentity controlled variable U is divided into 4 grades, is respectively as follows: { zero (ZO), just little (PD) hit exactly (PM), honest (PB) }.
Fuzzy processing module 303b, for determining distance D and the element in the domain of the changing value ED degree of membership respectively for distance D and the fuzzy set of distance changing value ED, it is about to distance D and distance changing value ED and is converted into suitable Linguistic Value, respectively as shown in table 1 below and table 2.
First Fuzzy processing module 303b can determine the membership function of the fuzzy set of distance and distance changing value, and determines the degree of membership for distance D and the fuzzy set of distance changing value ED of the element in the domain of distance D and distance changing value ED according to membership function. Membership function of the present invention is mainly added up according to driving experience and lot of experimental data and is drawn. Additionally, Fuzzy processing module 303b, it is also possible to adopt as above method to obtain the degree of membership for fuzzy set of the element in the domain of controlled quentity controlled variable U, as shown in table 3 below.
The table 1 element in the domain of D is for the degree of membership of fuzzy set
The table 2 element in the domain of changing value ED is for the degree of membership of fuzzy set
Element in the domain of table 3 controlled quentity controlled variable U is for the degree of membership of fuzzy set
Control rule and determine module 303c, for setting up control rule base according to distance and distance changing value, and obtain control rule table according to the control rule base set up and table 1, table 2, as shown in table 4.
It addition, control rule to determine that module 303c also can obtain control rule table according to table 3 further.
Control rule table can be the mapping table of distance, distance changing value and controlled quentity controlled variable.
Control rule base is used for storing control rule, controls rule and can also sum up according to professional's driving experience and expert knowledge library and to draw. It can also consider determines distance D, distance changing value ED, obtains some controlling rule, for instance if wherein one controls rule can be distance D be 0 meter, be arbitrary value apart from changing value ED, then controlled quentity controlled variable is set as 3. If one control rule can be distance changing value ES less than a threshold value (such as 5), be-6 or-7(i.e. distance shorten suddenly very big), the distance between vehicle and objects in front is arbitrary value, then controlled quentity controlled variable is all set as the first preset value (i.e. numerical value 3). This rule is proactive, although the distance between Current vehicle and objects in front is 35 meters or other values, it is possible to not short, but distance changing value diminishes suddenly a lot, it is anticipated that next moment distance likely can be drawn suddenly short, now controlled quentity controlled variable is set as 3.
Controlled quentity controlled variable can include 3(the 3rd grade in the first preset value, the second preset value, the 3rd preset value and the 4th preset value corresponding control rule table respectively according to actual needs), 2(the 2nd grade), 1(the 1st grade), 0(the 0th grade). And the 3rd grade represent that the degree needing to carry out anticollision control is the highest, the 2nd grade, the 1st grade, the 0th grade represent that the degree needing to carry out anticollision control reduces successively. . The concrete numerical value of controlled quentity controlled variable can be set according to actual needs, for instance, it is possible to it is set as any number such as letter or number. The implication representated by concrete numerical value of controlled quentity controlled variable can also carry out respective settings in advance in fuzzy controller.
Table 4 control rule table
In addition, fuzzy controller 303, it is additionally operable to when distance and distance changing value are mated with control rule table, if not obtaining the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, then according to the distance of distance detection device 301 offer and distance changing value, centroid method is adopted to be calculated obtaining controlled quentity controlled variable control rule table.
Centroid method can be MIN-MAX centroid method, and this centroid method can realize the de-fuzzy process of fuzzy reasoning and fuzzy quantity thereof, with precisely controlled amount.
If the distance that such as distance detection device 301 provides is 5.3 meters, the distance changing value provided is 1 meter, then inquire about in control rule table less than with this distance and distance controlled quentity controlled variable corresponding to changing value, then by existing centroid method just it is estimated that this distance not occurred in control rule table and apart from the controlled quentity controlled variable corresponding to changing value.
Anti-collision controller 305, it is connected with fuzzy controller 303 and brake gear 307, for receiving the control signal that fuzzy controller 303 provides, and obtain brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear 307 and brake.
Brake gear 307 can be existing any braking brake equipment of vehicle.
Brake pedal state in which includes the state depressing or not depressing, if being in the state depressed, then it represents that vehicle has been taken emergency brake, if not depressing, then it represents that vehicle is not braked.
First preset value of the controlled quentity controlled variable calculated by fuzzy controller 303, for example, it can be set to be 3, represents that making anti-collision controller 305 automatically control brake gear 307 brakes.
Preferably, described Anti-collision control device, it is also possible to including: prior-warning device 309.
Prior-warning device 309, is used for sending early warning signal to point out driver to carry out corresponding anticollision operation. It can be speaker, display screen, display lamp etc.
Speaker is for issuing out sound, display screen for showing that under the control of anti-collision controller 305 early warning information, display lamp for sending the light of different colours to point out driver under the control of anti-collision controller 305 in the control of anti-collision controller 305.
First preset value (such as numerical value 3) of controlled quentity controlled variable also may indicate that making anti-collision controller 305 control prior-warning device carries out anticollision early warning to point out driver to brake, and automatically control brake gear 307 and brake. Anti-collision controller 305, it is additionally operable to when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, control prior-warning device 309 and carry out anticollision early warning to point out driver to brake, and automatically control brake gear 307 and brake.
The display screen that such as can control prior-warning device 309 shows the early warning information of " must brake ", or the speaker controlling prior-warning device 309 sends sound " must brake ", or control display lamp sends red light to point out driver to brake.
Second preset value can set that as numerical value 2, represents that making anti-collision controller 305 control prior-warning device 309 performs anticollision early warning to point out driver to slow down. Anti-collision controller 305, is additionally operable to when the controlled quentity controlled variable that control signal is corresponding is the second preset value and brake pedal is in the state not depressed, and controls prior-warning device 309 and performs anticollision early warning to point out driver to slow down.
The display screen that such as can control prior-warning device 309 shows the early warning information of " please slow down ", or the speaker controlling prior-warning device 309 sends sound " please slow down ", or controls display lamp and send green light point out driver come in row deceleration.
3rd preset value can set that as numerical value 1, represents that making anti-collision controller 305 control prior-warning device 309 performs anticollision early warning point out driver to note maintenance safe distance. Anti-collision controller 305, is additionally operable to when the controlled quentity controlled variable that control signal is corresponding is the 3rd preset value and brake pedal is in the state not depressed, and controls prior-warning device 309 and performs anticollision early warning to point out driver to note keeping safe distance. The display screen that such as can control prior-warning device 309 shows the early warning information of " please note and keep safe distance ", or the speaker controlling prior-warning device 309 sends sound " please noting maintenance safe distance ", or control display lamp sends sodium yellow to point out driver to please note maintenance safe distance.
4th preset value can set that as numerical value 0, represents and makes anti-collision controller 305 not perform anticollision action, namely will not send control signal to anti-collision controller 305.
Anti-collision controller 305, if being additionally operable to brake pedal to be in the state depressed, does not then control brake gear and brakes, but can control prior-warning device 309 and perform above-mentioned anticollision early warning according to actual needs.
In sum, the Anti-collision control device that the present embodiment provides, the control rule table prestored is obtained by fuzzy controller, and distance and distance changing value are mated with control rule table, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, the control signal that fuzzy controller provides is received again through anti-collision controller, and obtain brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear and brake. Solve driver in driving vehicle processes, can not automatically avoid the problems such as encountered collision, only need to inquire about the control rule table stored to obtain controlled quentity controlled variable and brake automatically controlling brake gear further, it is achieved thereby that accurately controlling and automatically controlling vehicle collision avoidance, and ensure that real-time, it is to avoid the generation of collision accident.
In addition, the present embodiment can send early warning signal to point out driver to carry out corresponding anticollision operation also by arranging prior-warning device, also by anti-collision controller when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, control prior-warning device and carry out anticollision early warning to point out driver to brake, and automatically control brake gear and brake; Also when the controlled quentity controlled variable that control signal is corresponding is the second preset value and brake pedal is in the state not depressed, control prior-warning device and perform anticollision early warning to point out driver to slow down; Also when the controlled quentity controlled variable that control signal is corresponding is the 3rd preset value and brake pedal is in the state not depressed, control prior-warning device and perform anticollision early warning to point out driver to note keeping safe distance, thus enabling a driver to find potential risk of collision in advance, the more response time is striven for for driver, plenty of time can be had potential danger is taked correct methods measure, it is to avoid the generation of collision accident.
Controlled quentity controlled variable is calculated also by fuzzy reasoning mode, adopt various control rule and then further determine that controlled quentity controlled variable, fuzzy controller is when mating distance and distance changing value with control rule table, if not obtaining the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, then according to the distance of distance detection device offer and distance changing value, centroid method is adopted to be calculated obtaining controlled quentity controlled variable control rule table, such that it is able to realize the prediction of collision is controlled, potential risk of collision can be found in advance, give effective control in advance, can also automatically extrapolate controlled quentity controlled variable.
It is below the embodiment of the method for the present invention, the details of not detailed description in embodiment of the method, it is possible to reference to the device embodiment of above-mentioned correspondence.
Refer to the method flow diagram of the anti-collision control method that Fig. 1 to Fig. 4, Fig. 4 illustrate that one embodiment of the invention provides. Described anti-collision control method, it may include following steps 401-405:
Step 401: utilize distance detection device to detect the distance between vehicle and objects in front in real time, and calculate the distance changing value within default a period of time according to the distance of detection in default a period of time, distance and distance changing value are supplied to fuzzy controller.
Step 403: utilize fuzzy controller to obtain the control rule table prestored, and distance and distance changing value are mated with control rule table, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, control signal corresponding for controlled quentity controlled variable is supplied to anti-collision controller.
Step 405: utilize anti-collision controller to receive the control signal that fuzzy controller provides, and obtain brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear and brake.
Preferably, in step 403, may also include that
Distance, distance changing value are carried out discretization respectively and obtains distance and the domain of distance changing value, and determine the fuzzy set on the domain of distance and distance changing value;
Determine the degree of membership respectively for distance and the fuzzy set of distance changing value of the element in the domain of distance and distance changing value;
Set up control rule base according to distance and distance changing value, and according to the element in the domain of the control rule base set up and distance and distance changing value, control rule table is obtained for the degree of membership of distance and the fuzzy set of distance changing value.
Wherein it is determined that the method for degree of membership can be such that the membership function of the fuzzy set determining distance and distance changing value, and determine the degree of membership for distance and the fuzzy set of distance changing value of the element in the domain of distance and distance changing value according to membership function.
Preferably, in step 403, may also include that
Controlled quentity controlled variable is carried out divided rank and obtains the domain of controlled quentity controlled variable, and determine the fuzzy set on the domain of controlled quentity controlled variable;
Determine the degree of membership respectively for the fuzzy set of controlled quentity controlled variable of the element in the domain of controlled quentity controlled variable;
The element in domain according to the control rule base set up and distance, distance changing value and controlled quentity controlled variable obtains control rule table for the degree of membership of the fuzzy set of distance, distance changing value and controlled quentity controlled variable.
Preferably, in step 403, may also include that
Fuzzy controller is when mating distance and distance changing value with control rule table, if not obtaining the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, then according to the distance of distance detection device offer and distance changing value, centroid method is adopted to be calculated obtaining controlled quentity controlled variable control rule table.
Preferably, in step 405, may also include that
Anti-collision controller, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, controls prior-warning device and carries out anticollision early warning to point out driver to brake, and automatically control brake gear and brake;
Anti-collision controller, when the controlled quentity controlled variable that control signal is corresponding is the second preset value and brake pedal is in the state not depressed, controls prior-warning device and performs anticollision early warning to point out driver to slow down;
Anti-collision controller, when the controlled quentity controlled variable that control signal is corresponding is the 3rd preset value and brake pedal is in the state not depressed, controls prior-warning device and performs anticollision early warning to point out driver to note keeping safe distance.
In sum, the Anti-collision control device that the present embodiment provides, the control rule table prestored is obtained by fuzzy controller, and distance and distance changing value are mated with control rule table, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, the control signal that fuzzy controller provides is received again through anti-collision controller, and obtain brake pedal state in which, when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, automatically controls brake gear and brake. Solve driver in driving vehicle processes, can not automatically avoid the problems such as encountered collision, only need to inquire about the control rule table stored to obtain controlled quentity controlled variable and brake automatically controlling brake gear further, it is achieved thereby that accurately controlling and automatically controlling vehicle collision avoidance, and ensure that real-time, it is to avoid the generation of collision accident.
In addition, the present embodiment can send early warning signal to point out driver to carry out corresponding anticollision operation also by arranging prior-warning device, also by anti-collision controller when the controlled quentity controlled variable that control signal is corresponding is the first preset value and brake pedal is in the state not depressed, control prior-warning device and carry out anticollision early warning to point out driver to brake, and automatically control brake gear and brake; Also when the controlled quentity controlled variable that control signal is corresponding is the second preset value and brake pedal is in the state not depressed, control prior-warning device and perform anticollision early warning to point out driver to slow down; Also when the controlled quentity controlled variable that control signal is corresponding is the 3rd preset value and brake pedal is in the state not depressed, control prior-warning device and perform anticollision early warning to point out driver to note keeping safe distance, thus enabling a driver to find potential risk of collision in advance, the more response time is striven for for driver, plenty of time can be had potential danger is taked correct methods measure, it is to avoid the generation of collision accident.
Also by fuzzy controller when distance and distance changing value are mated with control rule table, if not obtaining the distance and the distance controlled quentity controlled variable corresponding to changing value that match with control rule table, then according to the distance of distance detection device offer and distance changing value, centroid method is adopted to be calculated obtaining controlled quentity controlled variable control rule table, thus controlled quentity controlled variable can also be extrapolated automatically.
The above, it it is only presently preferred embodiments of the present invention, not the present invention is done any pro forma restriction, although the present invention is disclosed above with preferred embodiment, but it is not limited to the present invention, any those skilled in the art, without departing within the scope of technical solution of the present invention, when the technology contents of available the disclosure above makes a little change or is modified to the Equivalent embodiments of equivalent variations, in every case it is without departing from technical solution of the present invention content, according to any simple modification that above example is made by the technical spirit of the present invention, equivalent variations and modification, all still fall within the scope of technical solution of the present invention.
Claims (10)
1. an Anti-collision control device, it is characterized in that, described Anti-collision control device includes: distance detection device, fuzzy controller, anti-collision controller and brake gear, wherein, described distance detection device, for detecting the distance between vehicle and objects in front in real time, and calculate the distance changing value within described default a period of time according to the distance of detection in default a period of time, described distance and distance changing value are supplied to described fuzzy controller; Described fuzzy controller, for obtaining the control rule table prestored, and described distance and described distance changing value are mated with described control rule table, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with described control rule table, control signal corresponding for described controlled quentity controlled variable is supplied to described anti-collision controller; Described anti-collision controller, for receiving the control signal that described fuzzy controller provides, and obtain brake pedal state in which, when the controlled quentity controlled variable that described control signal is corresponding is the first preset value and described brake pedal is in the state not depressed, automatically controls described brake gear and brake; Described fuzzy controller includes:
Fuzzy set and domain determine module, for described distance, described distance changing value being carried out discretization respectively and obtain described distance and the domain of described distance changing value, and determine the fuzzy set on the domain of described distance and described distance changing value;
Fuzzy processing module, for determining described distance and described element in the domain of the changing value degree of membership respectively for described distance and the fuzzy set of described distance changing value;
Control rule and determine module, for setting up control rule base according to described distance and described distance changing value, and according to the element in the domain of the control rule base set up and described distance and described distance changing value, described control rule table is obtained for the degree of membership of described distance and the fuzzy set of described distance changing value.
2. Anti-collision control device according to claim 1, it is characterized in that, described Anti-collision control device farther includes prior-warning device, described anti-collision controller is additionally operable to when the controlled quentity controlled variable that described control signal is corresponding is the first preset value and described brake pedal is in the state not depressed, control described prior-warning device and carry out anticollision early warning to point out driver to brake, and automatically control described brake gear and brake; Described anti-collision controller is additionally operable to when the controlled quentity controlled variable that described control signal is corresponding is the second preset value and described brake pedal is in the state not depressed, and controls described prior-warning device and performs anticollision early warning to point out driver to slow down; Described anti-collision controller is additionally operable to when the controlled quentity controlled variable that described control signal is corresponding is the 3rd preset value and described brake pedal is in the state not depressed, and controls described prior-warning device and performs anticollision early warning to point out driver to note keeping safe distance.
3. Anti-collision control device according to claim 1, it is characterized in that, described Fuzzy processing module, it is additionally operable to determine the membership function of the fuzzy set of described distance and described distance changing value, and determines the degree of membership for described distance and the fuzzy set of described distance changing value of the element in the domain of described distance and described distance changing value according to described membership function.
4. Anti-collision control device according to claim 1, it is characterised in that described fuzzy set and domain determine module, is additionally operable to that described controlled quentity controlled variable carries out divided rank and obtains the domain of described controlled quentity controlled variable, and determine the fuzzy set on the domain of described controlled quentity controlled variable; Described Fuzzy processing module, the element being additionally operable to determine in the domain of described controlled quentity controlled variable is respectively for the degree of membership of the fuzzy set of described controlled quentity controlled variable; Described control rule determines module, is additionally operable to the degree of membership described control rule table of acquisition for the fuzzy set of described distance, described distance changing value and described controlled quentity controlled variable of the element in the domain according to the control rule base set up and described distance, described distance changing value and described controlled quentity controlled variable.
5. Anti-collision control device according to claim 1, it is characterized in that, described fuzzy controller, it is additionally operable to when described distance and described distance changing value are mated with described control rule table, if not obtaining the distance and the distance controlled quentity controlled variable corresponding to changing value that match with described control rule table, the described distance then provided according to described distance detection device and distance changing value, adopt centroid method to be calculated obtaining controlled quentity controlled variable described control rule table.
6. an anti-collision control method, it is characterised in that described anti-collision control method includes:
Utilize distance detection device to detect the distance between vehicle and objects in front in real time, and calculate the distance changing value within described default a period of time according to the distance of detection in default a period of time, described distance and distance changing value are supplied to fuzzy controller;
Described fuzzy controller is utilized to obtain the control rule table prestored, and described distance and described distance changing value are mated with described control rule table, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with described control rule table, control signal corresponding for described controlled quentity controlled variable is supplied to anti-collision controller;
Described anti-collision controller is utilized to receive the control signal that described fuzzy controller provides, and obtain brake pedal state in which, when the controlled quentity controlled variable that described control signal is corresponding is the first preset value and described brake pedal is in the state not depressed, automatically controls brake gear and brake;
Described fuzzy controller obtains the control rule table prestored, including:
Described distance, described distance changing value are carried out discretization respectively and obtains described distance and the domain of described distance changing value, and determine the fuzzy set on the domain of described distance and described distance changing value;
Determine the degree of membership respectively for described distance and the fuzzy set of described distance changing value of the element in the domain of described distance and described distance changing value;
Set up control rule base according to described distance and described distance changing value, and according to the element in the domain of the control rule base set up and described distance and described distance changing value, described control rule table is obtained for the degree of membership of described distance and the fuzzy set of described distance changing value.
7. anti-collision control method according to claim 6, it is characterized in that: utilize described anti-collision controller to receive the control signal that described fuzzy controller provides, and obtain brake pedal state in which, when the controlled quentity controlled variable that described control signal is corresponding is the first preset value and described brake pedal is in the state not depressed, automatically control brake gear to brake, including:
Described anti-collision controller is when the controlled quentity controlled variable that described control signal is corresponding is the first preset value and described brake pedal is in the state not depressed, control prior-warning device and carry out anticollision early warning to point out driver to brake, and automatically control described brake gear and brake;
Described anti-collision controller, when the controlled quentity controlled variable that described control signal is corresponding is the second preset value and described brake pedal is in the state not depressed, controls described prior-warning device and performs anticollision early warning to point out driver to slow down;
Described anti-collision controller, when the controlled quentity controlled variable that described control signal is corresponding is the 3rd preset value and described brake pedal is in the state not depressed, controls described prior-warning device and performs anticollision early warning to point out driver to note keeping safe distance.
8. anti-collision control method according to claim 6, it is characterised in that determine the degree of membership respectively for described distance and the fuzzy set of described distance changing value of the element in the domain of described distance and described distance changing value, including:
Determine the membership function of the fuzzy set of described distance and described distance changing value, and determine the degree of membership for described distance and the fuzzy set of described distance changing value of the element in the domain of described distance and described distance changing value according to described membership function.
9. anti-collision control method according to claim 6, it is characterised in that described fuzzy controller obtains the control rule table prestored, including:
Described controlled quentity controlled variable is carried out divided rank and obtains the domain of described controlled quentity controlled variable, and determine the fuzzy set on the domain of described controlled quentity controlled variable;
Determine the degree of membership respectively for the fuzzy set of described controlled quentity controlled variable of the element in the domain of described controlled quentity controlled variable;
The element in domain according to the control rule base set up and described distance, described distance changing value and described controlled quentity controlled variable obtains described control rule table for the degree of membership of the fuzzy set of described distance, described distance changing value and described controlled quentity controlled variable.
10. anti-collision control method according to claim 6, it is characterized in that, described fuzzy controller obtains the control rule table prestored, and described distance and described distance changing value are mated with described control rule table, and obtain the distance and the distance controlled quentity controlled variable corresponding to changing value that match with described control rule table, including:
Described fuzzy controller is when mating described distance and described distance changing value with described control rule table, if not obtaining the distance and the distance controlled quentity controlled variable corresponding to changing value that match with described control rule table, the described distance then provided according to described distance detection device and distance changing value, adopt centroid method to be calculated obtaining controlled quentity controlled variable described control rule table.
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| CN113405812B (en) * | 2021-06-16 | 2022-04-19 | 吉利汽车研究院（宁波）有限公司 | Test method and test system for vehicle collision early warning system |
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