CN103921790A - Vehicle active safety intelligent system and control method - Google Patents

Vehicle active safety intelligent system and control method Download PDF

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Publication number
CN103921790A
CN103921790A CN201410198860.0A CN201410198860A CN103921790A CN 103921790 A CN103921790 A CN 103921790A CN 201410198860 A CN201410198860 A CN 201410198860A CN 103921790 A CN103921790 A CN 103921790A
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China
Prior art keywords
vehicle
distance
safety
detected value
around
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CN201410198860.0A
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Chinese (zh)
Inventor
李质勇
李院平
王可安
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李质勇
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Priority to CN201410198860.0A priority Critical patent/CN103921790A/en
Publication of CN103921790A publication Critical patent/CN103921790A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02Control of vehicle driving stability
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/06Direction of travel
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • B60W2520/105Longitudinal acceleration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • B60W2554/801Lateral distance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/06Combustion engines, Gas turbines
    • B60W2710/0605Throttle position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/18Braking system
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/20Steering systems

Abstract

The invention discloses a vehicle active safety intelligent system and a control method. The vehicle active safety intelligent system comprises a detecting unit, a central processing unit and an executing unit, the detecting unit is composed of a radar detecting system and a running state detecting system, the radar detecting system is used for detecting the distance and relative speed between a vehicle and surrounding objects and the orientation of the vehicle, and the running state detecting system is used for detecting the running speed, speed acceleration and deceleration and steering of the vehicle and weather and road conditions. The central processing unit is used for analyzing and processing various data detected by the detection portion which the central processing unit belongs to, and an optimal running mode and a control instruction are obtained on this basis. The executing unit is composed of an alarm system and an executing system, and is used for executing the control instruction output by the central processing unit, controlling corresponding devices on the vehicle to execute the necessary operation and reminding a driver to pay attention to driving safety or change the original running state of the vehicle to achieve the aim of comprehensively improving the running safety.

Description

Automobile active safety intelligent system and control method

Technical field

The present invention relates to field of automobile safety, particularly a kind of automobile active safety intelligent system and control method.

Background technology

Continuous increase along with automobile quantity, the traffic safety problem large problem that become international, car accident and because the number of traffic accident injures and deaths is in continuous increase, automotive safety technology has become the key subjects that can not be ignored, and each car production producer also constantly uses of the new technology, new product to be to improve the safety performance of automobile.When traditional passive security can not avoid traffic accident generation completely, new automobile active safety technology continues to bring out and becomes better and approaching perfection day by day.

In existing automobile active safety technology, mainly according to the distance measuring equipment (DME) that tests the speed of vehicle front, carry out anticipation, then by emergency braking, cut-out power, change the traffic safety that car speed guarantees vehicle.And the speed that only changes sometimes vehicle can not reach the object that guarantees traffic safety, as having when vehicle back, other vehicle follows up fast, the people that travels appears suddenly in four corners left and right directions or during the situation such as vehicle, because prior art cannot anticipation, therefore can not guarantee traffic safety by actv..

Summary of the invention

In order to make up the deficiency of existing automobile active safety technology, improve traffic safety comprehensively, the invention provides a kind of automobile active safety intelligent system and control method.

Technical scheme of the present invention is: a kind of automobile active safety intelligent system, comprise detecting unit, central processing unit and performance element, and it is characterized in that:

Described detecting unit: comprise radar sensing system and driving states checking system;

Wherein, radar sensing system specifically includes the radar system of a plurality of millimeter wave sensors and ultrasonic transduter composition, and millimeter wave sensor and ultrasonic transduter lay respectively at this vehicle corresponding site all around;

Wherein, driving states checking system specifically comprises car speed sensor, throttle position sensor, steering angle sensor and weather road selection button;

Described central processing unit controls instruction, comprising: security alarm instruction, emergent speed change or lane change instruction, emergency braking or steering order;

Described performance element, comprises warning and actuating system;

Wherein, described warning specifically comprises annunciator, steering indicating light, stoplight stop lamp, emergency light, loudspeaker;

Wherein, described actuating system specifically comprises electronic throttle system, servo steering system, electric brake system and electric stabilizing system.

Automobile active safety intelligence system and a control method, described control method comprises:

Described radar sensing system detects this vehicle and the around distance between object, relative velocity and orientation; Driving states checking system detect this vehicle speed, acceleration and deceleration, turn to and weather road conditions;

Particularly, the radar sensing system being formed by a plurality of millimeter wave sensors and ultrasonic transduter, millimeter wave sensor and ultrasonic transduter lay respectively at this vehicle corresponding site all around, detect this vehicle and the around distance between object, relative velocity and orientation; Also be used for judging that whether this vehicle is in four corners, when this vehicle and around the relative velocity between object be greater than the moving velocity of this vehicle and azimuth when constantly diminishing, be determined with this vehicle of object cross motion in four corners environment;

Described driving states checking system detects speed, the acceleration and deceleration of this vehicle and turns to, and is detected and is obtained respectively by car speed sensor, throttle position sensor and steering angle sensor; In the time of having the actual value of object or vehicle and distance to be less than safety distance before this vehicle, according to this vehicle, whether there is deflection angle to judge whether in curve traffic; In the time of having the actual value of Vehicle Driving Cycle and distance to be less than safety distance before this vehicle, according to this vehicle, whether there is the increase of deflection angle and throttle gate to judge whether in the state of overtaking other vehicles;

Wherein, the concrete impact of weather road conditions is to be determined by the braking of this vehicle and stability, can detect respectively by experiment normal weather, rainy day, snow sky and situation icy on road descends, the braking distance of corresponding different rows vehicle speed, and the corresponding data obtaining is stored into central processing unit, then select as the case may be, user can carry out relative set and adjustment according to the requirement of driving ability, vehicle performance and safe class, referring to table 1.

Described central processing unit is carried out analyzing and processing by all data that detect and information, comprises the whether judgement of the analysis in four corners, bend or the environment of overtaking other vehicles of vehicle; Obtain on this basis the best travel mode and control command; Specifically comprise:

When this vehicle is when around between object, the detected value of distance is less than corresponding danger range, output braking or steering order are controlled a plurality of device work on vehicle, control vehicle and are all greater than corresponding safety distance with the detected value of object distance around;

When this vehicle with around between object the detected value of distance be less than corresponding warning apart from time, a plurality of device work on vehicle are controlled in output variable speed or lane change instruction, control vehicle and are all greater than corresponding safety distance with the detected value of object distance around;

When this vehicle is with around between object, the detected value of distance is less than corresponding safety distance time, output alarm instruction, reminds the personnel of driving to drive with caution by annunciator; Also comprising because of rear car fast follow-up cause knock into the back may time by stoplight stop lamp, emergency light with blow a whistle and report to the police to rear car;

Described safety distance, warning distance and danger range be according to traffic safety code, weather road conditions, in conjunction with the speed of vehicle, turn to and the requirement of braking and vehicle safety performance, comprehensive by central processing unit, analyze and process the dynamic data obtaining; Its implication is that these group data change the difference because of weather road conditions, vehicle driving information and vehicle safety performance.Such as sleet sky can increase because automobile brake ability reduces, can shorten and reduce because of the stopping distance of needs during the reduction of the speed of a motor vehicle for another example, referring to table 1.

According to the mode of travelling and control command, a plurality of device work on operating and controlling vehicle, specifically comprise:

According to described running mode output control command, at least one in electronic throttle system, servo steering system, electric brake system and electric stabilizing system, in order to control vehicle, realize speed change, braking or steering operation;

Particularly, this Vehicle Driving Cycle is at four corners, when if its right front of this vehicle has the 2nd vehicle to be less than danger range to the detected value of left movement and distance, and left front has the 3rd vehicle to move right to only depend on braking can not guarantee traffic safety, carries out steering order and controls this vehicle and turn right;

This vehicle bend travels, if in the time that its place ahead of this vehicle having the actual value of the 2nd vehicle and distance to be less than safety distance, but the detected value of its distance is greater than safety distance not by the mode of travelling of this vehicle of control break after deflection angle adjustment;

This vehicle straight way travels, if its front and back of this vehicle have respectively the detected value of the 2nd vehicle and the 3rd Vehicle Driving Cycle and distance to be all less than safety distance, there is the 4th Vehicle Driving Cycle right front and left front does not have vehicle, in the time that the detected value of distance being greater than safety distance though there is the 5th vehicle left back, carrying out the instruction control left road of vehicle of overtaking other vehicles and overtake other vehicles;

If this vehicle is all around the object in one direction is less than corresponding safety distance with the detected value of this separation between vehicles time, output alarm prompting;

Wherein, in the time that this vehicle being less than corresponding safety distance with the detected value of front vehicle spacing, also to point out rear car by stoplight stop lamp;

Wherein, this vehicle and the detected value of front vehicle spacing be less than corresponding warning apart from time, also will be by emergency light, stoplight stop lamp and the warning rear car of blowing a whistle.

The invention has the beneficial effects as follows: this automobile active safety intelligent system and control method.By detecting this vehicle and the around distance between object, relative velocity and orientation, in conjunction with moving velocity, the acceleration and deceleration of vehicle self, turn to and weather road conditions; Through the analyzing and processing of central processing unit, obtain the best travel mode and control command; The corresponding intrument of controlling on vehicle is carried out necessary operation, reminds the personnel of driving drive with caution or change the original motoring condition of vehicle, reaches the object of comprehensive raising traffic safety.

Accompanying drawing explanation

Fig. 1 is the automobile active safety intelligent system structural representation that the embodiment of the present invention one provides;

Fig. 2 is the automobile active safety control method diagram of circuit that the embodiment of the present invention two provides;

Fig. 4 is the four corners driving schematic diagram that the embodiment of the present invention two provides;

Fig. 4 is the curve traffic schematic diagram that the embodiment of the present invention two provides;

Fig. 5 is the straight way driving schematic diagram that the embodiment of the present invention two provides.

Accompanying drawing in describing is above only some embodiments of the present invention, for those of ordinary skills, according to thinking of the present invention and method, can also obtain according to these accompanying drawings other accompanying drawing.

The specific embodiment

For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with drawings and Examples, the present invention is further detailed explanation:

Embodiment mono-

The present embodiment provides a kind of automobile active safety intelligent system, and described detecting unit comprises radar sensing system and driving states checking system, by central processing unit, is connected with actuating system with warning.Radar sensing system and driving states checking system incoming signal, to central processing unit, are worked to warning and actuating system control corresponding intrument by central processing unit output command, as shown in Figure 1.

In conjunction with Fig. 1, described radar sensing system specifically includes the radar system of a plurality of millimeter wave sensors and ultrasonic transduter composition, millimeter wave sensor and ultrasonic transduter lay respectively at the corresponding site all around of vehicle, for detection of this vehicle and the around distance between object, relative velocity and orientation.The embodiment of the present invention does not limit the quantity of sensor and installation site, and user can determine according to detecting the scope of data and the requirement of precision and traffic safety grade.

Described driving states checking system specifically comprises that car speed sensor, steering angle sensor, throttle position sensor and weather road select button, for detection of the moving velocity of this vehicle, turn to, acceleration and deceleration and weather road conditions.The embodiment of the present invention does not limit the sensor of this vehicle and device, and can be that this vehicle is original also can need to install according to detecting.

Described central processing unit, all data and information for analyzing and processing by the input of radar sensing system and driving states checking system, also comprise the whether analysis judgement in four corners, bend or the environment of overtaking other vehicles of vehicle; Obtain on this basis the best travel mode and control command, send to the corresponding intrument of warning and actuating system.Specifically comprise:

1) security alarm, for described vehicle with around between object, the detected value of distance is less than corresponding safety distance time, output alarm instruction;

2) emergent speed change or lane change, for described vehicle with around between object the detected value of distance be less than corresponding warning apart from time, output variable speed or lane change instruction;

3) emergency braking or turn to, for described vehicle when around between object, the detected value of distance is less than corresponding danger range, output braking or steering order.

Wherein: safety distance, warning distance and danger range be according to traffic safety code, weather road conditions, in conjunction with the speed of vehicle, turn to and the requirement of braking and vehicle safety performance, comprehensive by central processing unit, analyze and process the dynamic data obtaining.Its implication is that these group data change the difference because of weather road conditions, vehicle driving information and vehicle safety performance.Such as sleet sky can increase because automobile brake ability reduces, can shorten and reduce because of the stopping distance of needs during the reduction of the speed of a motor vehicle for another example, referring to table 1.

Wherein, central processing unit can realize by the central process unit on vehicle or car running computer, also can realize by independent central process unit or controller.

Described performance element, comprises warning and actuating system;

Wherein, described warning comprises annunciator, steering indicating light, stoplight stop lamp, emergency light, loudspeaker, for carrying out the alarm command of central processing unit output, by annunciator, remind the personnel of driving to drive with caution, also comprising because of rear car fast follow-up cause knock into the back may time by emergency light, stoplight stop lamp with blow a whistle and report to the police to rear car.

Wherein, annunciator can be independently to install, and also can bear warning function by navigating instrument, by sound and image, is reminded and is informed that the personnel of driving affect the reason of traffic safety, shows the information such as orientation, speed of relative movement and direction near vehicle or object.

Wherein, described actuating system comprises electronic throttle system, servo steering system, electric brake system and electric stabilizing system, for carrying out the control command of central processing unit output, with operating and controlling vehicle, realize speed change, braking or steering operation, meet the needs of traffic safety.The embodiment of the present invention does not limit the actuating system of this vehicle or device, and can be that this vehicle is original also can need to install according to controlling.

Embodiment bis-

The present embodiment provides a kind of control method of automobile active safety intelligent system, and referring to Fig. 2, the control method flow process that the present embodiment provides is specific as follows:

Radar sensing system detects this vehicle and the around distance between object, relative velocity and orientation; Driving states checking system detect this vehicle speed, acceleration and deceleration, turn to and weather road conditions.

Particularly, the radar sensing system being comprised of a plurality of millimeter wave sensors and ultrasonic transduter, can install front left, front right and rear middle part that three millimeter wave sensors lay respectively at vehicle; Install that four ultrasonic transduters lay respectively at before the left side of vehicle, behind left side, rear portion, Qian He right side, right side; For detection of this vehicle and the around distance between object, relative velocity and orientation.The embodiment of the present invention does not limit the quantity of sensor and installation site, and user can determine according to the requirement that detects data area and precision and traffic safety grade;

Wherein, described this vehicle of detection and the around relative velocity between object and orientation, be also used for judging that whether this vehicle is in four corners; When this vehicle and around the relative velocity between object be greater than the moving velocity of this vehicle and azimuth when constantly diminishing, can be determined with this vehicle of object cross motion in four corners environment, referring to Fig. 3.

Particularly, driving states checking system detect this vehicle speed, acceleration and deceleration, turn to and weather road conditions;

Wherein, the speed of this vehicle, acceleration and deceleration and turn to, detected and obtained by car speed sensor, throttle position sensor and steering angle sensor device respectively.For example, in the time of having the actual value of object or vehicle and distance to be less than safety distance before this vehicle, according to this vehicle, whether there is deflection angle to judge whether in curve traffic, referring to Fig. 4; In the time of having the actual value of Vehicle Driving Cycle and distance to be less than safety distance before this vehicle, according to this vehicle, whether there is the increase of deflection angle and throttle gate to judge whether in the state of overtaking other vehicles, referring to Fig. 5.

Wherein, the concrete impact of weather road conditions is to have the braking of this vehicle and stability to determine, can detect respectively by experiment normal weather, rainy day, snow sky and situation icy on road descends, the braking distance of corresponding different rows vehicle speed, and the corresponding data obtaining is stored into central processing unit, then select as the case may be, user can carry out relative set and adjustment according to the requirement of driving ability, vehicle performance and safe class, referring to table 1.

Central processing unit is carried out analyzing and processing by all data that detect and information, also comprises the whether judgement of the analysis in four corners, bend or the state environment of overtaking other vehicles of vehicle; Obtain on this basis the best travel mode and control command.Specifically comprise:

When this vehicle is when around between object, the detected value of distance is less than corresponding danger range, output braking or steering order are controlled a plurality of device work on vehicle, control vehicle and are all greater than corresponding safety distance with the detected value of object distance around;

When this vehicle with around between object the detected value of distance be less than corresponding warning apart from time, a plurality of device work on vehicle are controlled in output variable speed or lane change instruction, control vehicle and are all greater than corresponding safety distance with the detected value of object distance around;

When this vehicle is with around between object, the detected value of distance is less than corresponding safety distance time, output alarm instruction, by annunciator, remind the personnel of driving to drive with caution, also comprising because of rear car fast follow-up cause knock into the back may time by emergency light, stoplight stop lamp with blow a whistle and report to the police to rear car.

Wherein: safety distance, warning distance and danger range be according to traffic safety code, weather road conditions, in conjunction with the speed of vehicle, turn to and the requirement of braking and vehicle safety performance, comprehensive by central processing unit, analyze and process the dynamic data obtaining.Its implication is that these group data change the difference because of weather road conditions, vehicle driving information and vehicle safety performance.Such as sleet sky can increase because automobile brake ability reduces, can shorten and reduce because of the stopping distance of needs during the reduction of the speed of a motor vehicle for another example, referring to table 1.

According to the mode of travelling and control command, a plurality of device work on operating and controlling vehicle, specifically comprise:

According to described running mode output control command, at least one in electronic throttle system, servo steering system, electric brake system and electric stabilizing system, in order to control vehicle, realize speed change, braking or steering operation;

Particularly, this Vehicle Driving Cycle is at four corners, when if its right front of this vehicle has the 2nd vehicle to be less than danger range to the detected value of left movement and distance, and having the 3rd vehicle to move right, left front only depend on braking can not guarantee traffic safety, carry out steering order and control the right-hand rotation of this vehicle, referring to Fig. 3;

This vehicle bend travels, if in the time that its place ahead of this vehicle having the actual value of the 2nd Vehicle Driving Cycle and distance to be less than safety distance, but the detected value of its distance is greater than safety distance after deflection angle adjustment, not by the mode of travelling of this vehicle of control break, referring to Fig. 4;

This vehicle straight way travels, if its front and back of this vehicle have respectively the detected value of the 2nd vehicle and the 3rd Vehicle Driving Cycle and distance to be all less than safety distance, there is the 4th Vehicle Driving Cycle right front and left front does not have vehicle, in the time that though there is the 5th vehicle left back, the detected value of distance being greater than safety distance, carry out the instruction control left road of vehicle of overtaking other vehicles and overtake other vehicles, referring to Fig. 5;

If this vehicle is all around the object in one direction is less than corresponding safety distance with the detected value of this separation between vehicles time, output alarm prompting;

Wherein, in the time that this vehicle being less than corresponding safety distance with the detected value of front vehicle spacing, also to point out rear car by stoplight stop lamp;

Wherein, this vehicle and the detected value of front vehicle spacing be less than corresponding warning apart from time, also will be by emergency light, stoplight stop lamp and the warning rear car of blowing a whistle.

Table 1: relation table between automobile longitudinal braking distance and weather road conditions

Claims (2)

1. an automobile active safety intelligent system, comprises detecting unit, central processing unit and performance element, it is characterized in that:
Described detecting unit: comprise radar sensing system and driving states checking system;
Wherein, radar sensing system specifically includes the radar system of a plurality of millimeter wave sensors and ultrasonic transduter composition, and millimeter wave sensor and ultrasonic transduter lay respectively at this vehicle corresponding site all around;
Wherein, driving states checking system specifically comprises car speed sensor, throttle position sensor, steering angle sensor and weather road selection button;
Described central processing unit controls instruction, comprising: security alarm instruction, emergent speed change or lane change instruction, emergency braking or steering order;
Described performance element, comprises warning and actuating system;
Wherein, described warning specifically comprises annunciator, steering indicating light, stoplight stop lamp, emergency light, loudspeaker;
Wherein, described actuating system specifically comprises electronic throttle system, servo steering system, electric brake system and electric stabilizing system.
2. the control method of a kind of automobile active safety intelligent system according to claim 1, described control method comprises:
Described radar sensing system detects this vehicle and the around distance between object, relative velocity and orientation; Driving states checking system detect this vehicle speed, acceleration and deceleration, turn to and weather road conditions;
Particularly, the radar sensing system being formed by a plurality of millimeter wave sensors and ultrasonic transduter, millimeter wave sensor and ultrasonic transduter lay respectively at the corresponding site all around of this vehicle, detect this vehicle and around between object distance, relative velocity and orientation; Be used for judging that whether this vehicle is in four corners, when this vehicle and around the relative velocity between object be greater than the moving velocity of this vehicle and azimuth when constantly diminishing, be determined with this vehicle of object cross motion in four corners environment;
Described driving states checking system detects speed, the acceleration and deceleration of this vehicle and turns to, and is detected and is obtained respectively by car speed sensor, throttle position sensor and steering angle sensor; In the time of having the actual value of object or vehicle and distance to be less than safety distance before vehicle, according to this vehicle, whether there is deflection angle to judge whether in curve traffic; In the time of having the actual value of Vehicle Driving Cycle and distance to be less than safety distance before this vehicle, according to this vehicle, whether there is the increase of deflection angle and throttle gate to judge whether in the state of overtaking other vehicles;
Wherein, the concrete impact of weather road conditions is to be determined by the braking of this vehicle and stability, detecting respectively by experiment normal weather, rainy day, snow sky and situation icy on road descends, the braking distance of corresponding different rows vehicle speed, and the corresponding data obtaining is stored into central processing unit, then select as the case may be, user can carry out relative set and adjustment according to the requirement of vehicle performance and safe class;
Described central processing unit is carried out analyzing and processing by all data that detect and information, comprises the whether judgement of the analysis in four corners, bend or the environment of overtaking other vehicles of vehicle; Obtain on this basis the best travel mode and control command;
Specifically comprise:
When this vehicle is when around between object, the detected value of distance is less than corresponding danger range, output braking or steering order are controlled a plurality of device work on vehicle, control vehicle and are all greater than corresponding safety distance with the detected value of object distance around;
When this vehicle with around between object the detected value of distance be less than corresponding warning apart from time, a plurality of device work on vehicle are controlled in output variable speed or lane change instruction, control this vehicle and are all greater than corresponding safety distance with the detected value of object distance around;
When this vehicle is with around between object, the detected value of distance is less than corresponding safety distance time, output alarm instruction, by annunciator, remind the personnel of driving to drive with caution, also comprising because of rear car fast follow-up cause knock into the back may time by stoplight stop lamp, emergency light with blow a whistle and report to the police to rear car;
Described safety distance, warning distance and danger range be according to traffic safety code, weather road conditions, in conjunction with the speed of vehicle, turn to and the requirement of braking and vehicle safety performance, comprehensive by central processing unit, analyze and process the dynamic data obtaining;
According to the mode of travelling and control command, control the actuating system work on this vehicle, specifically comprise:
According to described running mode output control command, at least one in electronic throttle system, servo steering system, electric brake system and electric stabilizing system, in order to control vehicle, realize speed change, braking or steering operation;
Particularly, this Vehicle Driving Cycle is at four corners, when if its right front of this vehicle has the 2nd vehicle to be less than danger range to the detected value of left movement and distance, and left front has the 3rd vehicle to move right to only depend on braking can not guarantee traffic safety, carries out steering order and controls this vehicle and turn right;
This vehicle bend travels, if in the time that its place ahead of this vehicle having the actual value of the 2nd vehicle and distance to be less than safety distance, but the detected value of its distance is greater than safety distance after deflection angle adjustment, not by the mode of travelling of this vehicle of control break;
This vehicle straight way travels, if its front and back of this vehicle have respectively the detected value of the 2nd vehicle and the 3rd Vehicle Driving Cycle and distance to be all less than safety distance, there is the 4th Vehicle Driving Cycle right front and left front does not have vehicle, in the time that the detected value of distance being greater than safety distance though there is the 5th vehicle left back, carrying out the instruction control left road of vehicle of overtaking other vehicles and overtake other vehicles;
If this vehicle is all around the object in one direction is less than corresponding safety distance with the detected value of this separation between vehicles time, output alarm prompting;
Wherein, in the time that this vehicle being less than corresponding safety distance with the detected value of front vehicle spacing, also to point out rear car by stoplight stop lamp;
Wherein, this vehicle and the detected value of front vehicle spacing be less than corresponding warning apart from time, also will be by emergency light, stoplight stop lamp and the warning rear car of blowing a whistle.
CN201410198860.0A 2014-05-12 2014-05-12 Vehicle active safety intelligent system and control method CN103921790A (en)

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