CN104276092B - A kind of vehicle road turn to blind area to shift to an earlier date visible controlling system - Google Patents

Abstract

The invention discloses a kind of vehicle and road turns to blind area to shift to an earlier date visible controlling system, including the collecting unit of the status information of the speed of service information in collection vehicle driving process, the rotation angle information of steering wheel, the rotation angle information of left and right rearview mirror and mode switch；Receive the data message that described collecting unit transmits, the data message received is carried out the ECU of the rearview mirror corner work of data analysis and data processing and control vehicle.The present invention uses the angle of disclosed algorithm rotation actual to rearview mirror and needs the data message such as the angle of rotation and the speed of vehicle to carry out certain process, thus realize controlling accurately the rotation of vehicle mirrors, make driver pass through the vehicle in rearview mirror observation blind area, rear and more intuitively ensure the safe operation of vehicle.

Description

A kind of vehicle road turn to blind area to shift to an earlier date visible controlling system

Technical field

The present invention relates to vehicular traffic control field, particularly relate to a kind of vehicle and road turns to blind area the most visual Control system.

Background technology

Automobile travel and road, turn to time to have one section of region at vehicle side rear be blind area, the vehicle in blind area It is sightless, dead astern vehicle can only be observed by left and right rearview mirror, and drive in vehicular sideview blind area Member does not observes other vehicles.It is blind that major part traffic accident is just because invisible rear when vehicle road Vehicle in district and cause.In solution blind area, the way of vehicle vision is to use wide-angle camera at present, peace Each dead angle that dress is fixed on automobile, uses picture segmentation main frame to be incorporated in same by multiple camera views The image of real-time display automobile periphery on individual liquid crystal display, and in real time the video real-time high-definition of each camera is supervised Control video recording, the overall process that record peripheral vehicle travels.But, the method has following weak point: need Vehicle's surroundings additionally installs the elements such as multiple camera, radar, and its cost is high, and often high-grade car is just furnished with This device；Vehicle periphery install the element such as a large amount of cameras, radar be easily damaged when vehicle scratches, Replacement cost is higher；Driver drive when, also additionally to bow viewing driver's cabin in screen, point Dissipate driving demand power, add danger coefficient.And when camera is dirty when or time rainy camera and Radar is unstable, and by screen perception side front vehicle, driver does not has distance perspective, and when running at high speed The problem such as the signal of video signal of camera collection is delayed.

Prior art additionally proposes the design that a kind of rearview mirror is automatically adjusted, in this kind of scheme, During Vehicular turn, rearview mirror can rotate an angle automatically, to reduce blind area scope, the program Blind area scope can be reduced to a certain extent, but, the program has weak point equally: 1, rearview mirror Velocity of rotation is fixed, if velocity of rotation is too fast, after stirring turning indicator control, rearview mirror rotates suddenly an angle Degree, easily interferes with driver, is likely to result in erroneous judgement, and causes having an accident；2, rearview mirror rotates speed Degree is fixing, if after rearview mirror rotated slowly, and road completes, rearview mirror does not still turn to correct position, enters And rearview mirror automatic adjustment system is ineffective, it is impossible to effectively reduce blind area.3, under partial picture, rearview mirror The anglec of rotation is fixed, although can reduce blind area, but the equally possible driver of causing cannot be effectively observed side Rear area, such as, at round Way out, rearview mirror actually needs to rotate smaller angle, is ratio Appropriate, that rearview mirror is fixing big corner, after driving is adversely affected.

Summary of the invention

The problem existed according to prior art, the invention discloses a kind of vehicle and road turns to blind area the most visual Control system includes: speed of service information in collection vehicle driving process, the rotation angle information of steering wheel, The rotation angle information of left and right rearview mirror and the collecting unit of the status information of mode switch；Adopt described in reception The data message that collection unit transmits, carries out data analysis and data processing and control car to the data message received Rearview mirror corner work ECU.

Described collecting unit includes that left steering lamp switch, right turn lamp switch, vehicle speed sensor, steering wheel turn Angle transducer, rearview mirror level manually adjust switch, motor drive module I, motor drive module II, a left side Rearview mirror Level tune motor, left-hand mirror motor angle sensor, right rear view mirror motor angle sensor and Right rear view mirror Level tune motor；

Described left steering lamp switch is connected with ECU by mode switch with right turn lamp switch, described speed Sensor detects vehicle vehicle speed information in the process of moving the data message transmission that will detect in real time To ECU；The corner that the angle information that described steering wheel angle sensor detection steering wheel for vehicle rotates will detect Information is sent to ECU；Described rearview mirror level manually adjusts switch, motor drive module I and motor and drives mould Block II is connected with ECU respectively, described left-hand mirror Level tune motor and right rear view mirror Level tune motor Being connected with motor drive module I and motor drive module II respectively, described left-hand mirror motor angle senses Device and right rear view mirror motor angle sensor detect left-hand mirror Level tune motor and right rear view mirror level respectively The angle information of regulation electric machine rotation, and the angle information detected is sent to ECU.

Described ECU receives the data message that described collecting unit transmits, when mode switch disconnects, this system Stop the rotary work of automating adjustment of rearview mirrors, manually adjust switch manual by rearview mirror level and adjust backsight The rotary work of mirror；

When mode switch closes, this system judges whether left steering lamp switch or right turn lamp switch close, If switch Guan Bi, then vehicle will turn to or also road, adjust the anglec of rotation of rearview mirror the most as follows:

Wherein: θ_setThe deflection angle reached is needed, it is stipulated that θ when rearview mirror turns clockwise for rearview mirror_setFor just Value, rotates to be negative value, θ counterclockwise_CThe angle turned over for steering wheel, θ_TTurn for beating steering indicating light moment steering wheel The angle crossed, D is steering indicating light, and D value is that+1 and-1 ,+1 to represent right turn lamp bright, and-1 represents left steering Lamp is bright, θ_C> 90 ° represent vehicle and turn right, otherwise vehicle turns left, K₁For constant coefficient, K₂For constant coefficient, K₁>K₂；

Left-hand mirror motor angle sensor and right rear view mirror motor angle is used during the rotation of visor after the adjustment Sensor detects the angle, θ that rearview mirror rotates in real time_fact, when the deflection angle theta that rearview mirror needs reach_setInclined with reality Rotational angle theta_factDifference more than set threshold value time, rearview mirror is set as quickly rotating, rearview mirror set angle speed It is proportional to car speed V；When the deflection angle theta that rearview mirror needs reach_setWith actual deflection angle θ_factDifference setting Time in fixed threshold range, rearview mirror is set as rotating at a slow speed, rearview mirror set angle speed and (θ_set-θ_fact) × V becomes Direct ratio, i.e. uses following algorithm:

${\mathrm{\&omega;}}_{\mathrm{set}}=\left\{\begin{array}{cc}{K}_3\&times;V& ({\mathrm{\&theta;}}_{\mathrm{set}}-{\mathrm{\&theta;}}_{\mathrm{fact}}>M)\\ K_4\&times;({\mathrm{\&theta;}}_{\mathrm{set}}-{\mathrm{\&theta;}}_{\mathrm{fact}})\&times;V& (-M<{\mathrm{\&theta;}}_{\mathrm{set}}-{\mathrm{\&theta;}}_{\mathrm{fact}}<M)\\ -K_3\&times;V& ({\mathrm{\&theta;}}_{\mathrm{set}}-{\mathrm{\&theta;}}_{\mathrm{fact}}<-M)\end{array}\right.---\left(2\right)$

Wherein: ω_setRepresenting that rearview mirror needs the rotational angular velocity reached, V represents the speed of service that vehicle is current, K₃For constant coefficient, K₄For constant coefficient, θ_factRepresent the angle that rearview mirror in reality turns over；M is for setting Angle threshold.

During controlling, by rearview mirror rotational angle theta_factDifferential, obtain rearview mirror need angle of rotation speed Degree ω_set, for angular speed closed-loop control employing mode calculated as below:

${\mathrm{\&omega;}}_{\mathrm{fact}}=\frac{{\mathrm{\&theta;}}_{\mathrm{fact}2}-{\mathrm{\&theta;}}_{\mathrm{fact}1}}{t_2-t_1}---\left(3\right)$

Wherein: θ_fact2And θ_fact1It is the rearview mirror corner in two moment, and t₁For corresponding moment, ω_factFor rear The actual angular speed of visor, ω_factAs feedback, completing the closed-loop control of angular speed, closed-loop control uses classics Pid control algorithm use equation below:

$\begin{array}{c}u\left(t\right)=K_p[e\left(t\right)+\frac{1}{T_i}\&Integral;e\left(t\right)\mathrm{dt}+T_d\frac{d\left(e\left(t\right)\right)}{\mathrm{dt}}\\ e\left(t\right)={\mathrm{\&omega;}}_{\mathrm{set}}-{\mathrm{\&omega;}}_{\mathrm{fact}}\end{array}---\left(4\right)$

Wherein, e (t) represents rotational angular velocity ω to be reached_setWith rearview mirror actual angular speed ω_factDifference, adopt The rotating speed of motor is controlled, controlled quentity controlled variable u (t) the amendment duty cycle adjustment rearview mirror that will calculate with pulse width modulation mode Angular velocity of rotation, K_pFor proportionality coefficient, T_iFor the coefficient time of integration, T_dFor coefficient derivative time.

Owing to have employed technique scheme, a kind of vehicle road that the present invention provides turn to blind area the most visual Control system, this system is provided with mode switch, can switch this system with Disconnected mode under special circumstances and stop Work, other functions of rearview mirror normally work.This system worked well during mode switch Guan Bi.This system sets Having GES to input, the fastest rearview mirror of speed deflects the fastest automatically, to adapt at a high speed and road road conditions；And This system rearview mirror corner size follows recent movement, rearview mirror motion smoothing, it is to avoid rearview mirror is transported suddenly Dynamic, it is to avoid to interfere driver, to avoid accident, the angular speed that steering wheel rotates followed by rearview mirror simultaneously Relevant to running velocity, running velocity is the fastest, and it is the fastest that speed followed by rearview mirror.By ECU control Rearview mirror, ECU monitoring manually adjusts the related switch of rearview mirror so that this system can be compatible with other functions It is independent of each other.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to enforcement In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below In accompanying drawing be only some embodiments described in the application, for those of ordinary skill in the art, On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the structural representation of control system in the present invention；

Fig. 2 is the schematic diagram of the control algolithm used in the present invention.

Detailed description of the invention

For making technical scheme and advantage clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, Technical scheme in the embodiment of the present invention is carried out the most complete description:

Vehicle road as shown in Figure 1 turn to blind area to shift to an earlier date visible controlling system, including collecting unit and with institute State the ECU7 of collecting unit data communication, collecting unit collection vehicle speed of service information in the process of moving, The states of the rotation angle information of steering wheel, the rotation angle information of left and right rearview mirror and mode switch etc. are believed Breath, and the data message collected is sent in real time ECU7, the ECU7 data message to receiving carries out Data process, data analysis thus control the anglec of rotation of vehicle mirrors.This system also includes power supply 14, This power supply 14 is connected with ECU7 provides electric energy for ECU7.

Collecting unit includes that left steering lamp switch 1, right turn lamp switch 2, vehicle speed sensor 3, steering wheel turn Angle transducer 4, rearview mirror level manually adjust switch 5, motor drive module I8, motor drive module II 9, left-hand mirror Level tune motor 10, left-hand mirror motor angle sensor 11, right rear view mirror motor angle Degree sensor 12 and right rear view mirror Level tune motor 13.Left steering lamp switch 1 and right turn lamp switch 2 lead to Cross mode switch 6 to be connected with ECU7.Vehicle speed sensor 3 is connected with ECU7, detects vehicle in real time The data message detected also is sent to ECU7 by vehicle speed information in the process of moving.Steering wheel angle Sensor 4 detects the angle information of steering wheel for vehicle rotation and the corner information detected is sent to ECU7；After Visor level manually adjust switch 5, motor drive module I8 and motor drive module II9 respectively with ECU7 It is connected.Left-hand mirror Level tune motor 10 and right rear view mirror Level tune motor 13 drive with motor respectively Dynamic model block I8 is connected with motor drive module II9.After left-hand mirror motor angle sensor 11 and the right side Visor motor angle sensor 12 detects left-hand mirror Level tune motor 10 respectively and right rear view mirror level is adjusted The angle information that joint motor 13 rotates, and the angle information detected is sent to ECU7.

Further, as shown in Figure 2: ECU7 receives the data message that described collecting unit transmits, and works as pattern During switch 6 disconnection, this system stops the rotary work of automating adjustment of rearview mirrors, manual by rearview mirror level Adjust switch 5 and manually adjust the rotary work of rearview mirror.

When mode switch 6 closes, this system judges whether are left steering lamp switch 1 or right turn lamp switch 2 Guan Bi, if switch Guan Bi, then vehicle will turn to or also road, adjust the rotation of rearview mirror the most as follows Gyration:

Wherein: θ_setThe deflection angle reached is needed, it is stipulated that θ when rearview mirror turns clockwise for rearview mirror_setFor just Value, rotates to be negative value, θ counterclockwise_CThe angle turned over for steering wheel, θ_TTurn for beating steering indicating light moment steering wheel The angle crossed, D is steering indicating light, and D value is that+1 and-1 ,+1 to represent right turn lamp bright, and-1 represents left steering Lamp is bright, θ_C> 90 ° represent vehicle and turn right, otherwise vehicle turns left, K₁For constant coefficient, K₂For constant coefficient, K₁>K₂；

Left-hand mirror motor angle sensor 11 and right rear view mirror motor angle is used during the rotation of visor after the adjustment Degree sensor 12 detects the angle, θ that rearview mirror rotates in real time_fact, when the deflection angle theta that rearview mirror needs reach_setWith Actual deflection angle θ_factDifference more than set threshold value time, rearview mirror is set as quickly rotating, rearview mirror set Angular speed is proportional to car speed V；When the deflection angle theta that rearview mirror needs reach_setWith actual deflection angle θ_factDifference Be worth set threshold range in time, rearview mirror is set as rotating at a slow speed, rearview mirror set angle speed with (θ_set-θ_fact) × V is directly proportional, and i.e. uses following algorithm:

${\mathrm{\&omega;}}_{\mathrm{set}}=\left\{\begin{array}{cc}{K}_3\&times;V& ({\mathrm{\&theta;}}_{\mathrm{set}}-{\mathrm{\&theta;}}_{\mathrm{fact}}>M)\\ K_4\&times;({\mathrm{\&theta;}}_{\mathrm{set}}-{\mathrm{\&theta;}}_{\mathrm{fact}})\&times;V& (-M<{\mathrm{\&theta;}}_{\mathrm{set}}-{\mathrm{\&theta;}}_{\mathrm{fact}}<M)\\ -K_3\&times;V& ({\mathrm{\&theta;}}_{\mathrm{set}}-{\mathrm{\&theta;}}_{\mathrm{fact}}<-M)\end{array}\right.---\left(2\right)$

Wherein: ω_setRepresenting that rearview mirror needs the rotational angular velocity reached, V represents the speed of service that vehicle is current, K₃For constant coefficient, K₄For constant coefficient, θ_factRepresent the angle that rearview mirror in reality turns over；M is for setting Angle threshold, here: K₃× V and-K₃Sign in × V represents the direction that rearview mirror rotates.

Further, native system is during controlling, by rearview mirror rotational angle theta_factDifferential, after obtaining Visor needs rotational angular velocity ω_set, for angular speed closed-loop control employing mode calculated as below:

${\mathrm{\&omega;}}_{\mathrm{fact}}=\frac{{\mathrm{\&theta;}}_{\mathrm{fact}2}-{\mathrm{\&theta;}}_{\mathrm{fact}1}}{t_2-t_1}---\left(3\right)$

θ_fact2And θ_fact1It is the rearview mirror corner in two moment, and t₁For corresponding moment, ω_factReality for rearview mirror Border angular speed, ω_factAs feedback, completing the closed-loop control of angular speed, closed-loop control uses classical PID control Algorithm processed employing equation below:

$\begin{array}{c}u\left(t\right)=K_p[e\left(t\right)+\frac{1}{T_i}\&Integral;e\left(t\right)\mathrm{dt}+T_d\frac{d\left(e\left(t\right)\right)}{\mathrm{dt}}\\ e\left(t\right)={\mathrm{\&omega;}}_{\mathrm{set}}-{\mathrm{\&omega;}}_{\mathrm{fact}}\end{array}$

Wherein, e (t) represents rotational angular velocity ω to be reached_setWith rearview mirror actual angular speed ω_factDifference, adopt The rotating speed of motor is controlled, controlled quentity controlled variable u (t) the amendment duty cycle adjustment rearview mirror that will calculate with pulse width modulation mode Angular velocity of rotation, K_pFor proportionality coefficient, T_iFor the coefficient time of integration, T_dFor coefficient derivative time.

Vehicle disclosed by the invention road turn to blind area to shift to an earlier date visible controlling system, use disclosed algorithm to rear The data messages such as the speed of the angle of the actual rotation of visor and the angle of needs rotation and vehicle carry out certain Process, thus realize controlling accurately the rotation of vehicle mirrors, make driver observe rear by rearview mirror Vehicle in blind area more intuitively ensures the safe operation of vehicle.

The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention not office Being limited to this, any those familiar with the art is in the technical scope that the invention discloses, according to this The technical scheme of invention and inventive concept thereof in addition equivalent or change, all should contain the protection in the present invention Within the scope of.

Claims (2)

1. a vehicle road turn to blind area to shift to an earlier date visible controlling system, it is characterised in that including:

Speed of service information in collection vehicle driving process, the rotation angle information of steering wheel, left and right backsight The rotation angle information of mirror and the collecting unit of the status information of mode switch；

Receive described collecting unit transmit data message, the data message received is carried out data analysis and The ECU (7) of the rearview mirror corner work of data processing and control vehicle；

Described collecting unit include left steering lamp switch (1), right turn lamp switch (2), vehicle speed sensor (3), Steering wheel angle sensor (4), rearview mirror level manually adjust switch (5), motor drive module I (8), Motor drive module II (9), left-hand mirror Level tune motor (10), left-hand mirror motor angle sensor (11), right rear view mirror motor angle sensor (12) and right rear view mirror Level tune motor (13)；

Described left steering lamp switch (1) and right turn lamp switch (2) are by mode switch (6) and ECU (7) It is connected, described vehicle speed sensor (3) in real time detection vehicle vehicle speed information in the process of moving general The data message detected is sent to ECU (7)；Described steering wheel angle sensor (4) detection direction of traffic The corner information detected is sent to ECU (7) by the angle information that dish rotates；Described rearview mirror level is manually adjusted Whole switch (5), motor drive module I (8) and motor drive module II (9) respectively with ECU (7) phase Connecting, described left-hand mirror Level tune motor (10) and right rear view mirror Level tune motor (13) are respectively It is connected with motor drive module I (8) and motor drive module II (9), described left-hand mirror motor angle Degree sensor (11) and right rear view mirror motor angle sensor (12) detect left-hand mirror Level tune respectively The angle information that motor (10) and right rear view mirror Level tune motor (13) rotate, and the angle that will detect Degree information is sent to ECU (7)；

Described ECU (7) receives the data message that described collecting unit transmits, when mode switch (6) disconnects, This system stops the rotary work of automating adjustment of rearview mirrors, manually adjusts switch (5) hand by rearview mirror level The dynamic rotary work adjusting rearview mirror；

When mode switch (6) closes, this system judges left steering lamp switch (1) or right turn lamp switch (2) whether close, if switch Guan Bi, then vehicle will turn to or and road, the most as follows adjustment after The anglec of rotation of visor:

Wherein: θ_setThe deflection angle reached is needed, it is stipulated that θ when rearview mirror turns clockwise for rearview mirror_setFor just Value, rotates to be negative value, θ counterclockwise_CThe angle turned over for steering wheel, θ_TTurn for beating steering indicating light moment steering wheel The angle crossed, D is steering indicating light, and D value is that+1 and-1 ,+1 to represent right turn lamp bright, and-1 represents left steering Lamp is bright, θ_C> 90 ° represent vehicle and turn right, otherwise vehicle turns left, K₁For constant coefficient, K₂For constant coefficient, K₁>K₂；

Use left-hand mirror motor angle sensor (11) and right rear view mirror electric during the rotation of visor after the adjustment Machine angular transducer (12) angle, θ that detection rearview mirror rotates in real time_fact, when the deflection that rearview mirror needs reach Angle θ_setWith actual deflection angle θ_factDifference more than set threshold value time, rearview mirror is set as quickly rotating, backsight Mirror set angle speed is proportional to car speed V；When the deflection angle theta that rearview mirror needs reach_setWith actual deflection angle θ_factDifference set threshold range in time, rearview mirror is set as rotating at a slow speed, rearview mirror set angle speed With (θ_set-θ_fact) × V is directly proportional, and i.e. uses following algorithm:

${\mathrm{\&omega;}}_{set}=\left\{\begin{array}{cc}{K}_3\&times;V& ({\mathrm{\&theta;}}_{set}-{\mathrm{\&theta;}}_{fact}>M)\\ K_4\&times;({\mathrm{\&theta;}}_{set}-{\mathrm{\&theta;}}_{fact})\&times;V& (-M<{\mathrm{\&theta;}}_{set}-{\mathrm{\&theta;}}_{fact}<M)\\ -K_3\&times;V& ({\mathrm{\&theta;}}_{set}-{\mathrm{\&theta;}}_{fact}<-M)\end{array}\right.---\left(2\right)$

Wherein: ω_setRepresenting that rearview mirror needs the rotational angular velocity reached, V represents the speed of service that vehicle is current, K₃For constant coefficient, K₄For constant coefficient, θ_factRepresent the angle that rearview mirror in reality turns over；M is for setting Angle threshold.

A kind of vehicle the most according to claim 1 road turn to blind area to shift to an earlier date visible controlling system, and it is special Levy and also reside in:

During controlling, by rearview mirror rotational angle theta_factDifferential, obtain rearview mirror need angle of rotation speed Degree ω_set, for angular speed closed-loop control employing mode calculated as below:

${\mathrm{\&omega;}}_{fact}=\frac{{\mathrm{\&theta;}}_{fact2}-{\mathrm{\&theta;}}_{fact1}}{t_2-t_1}---\left(3\right)$

θ_fact2And θ_fact1It is the rearview mirror corner in two moment, t₂And t₁For corresponding moment, ω_factFor rearview mirror Actual angular speed, ω_factAs feedback, completing the closed-loop control of angular speed, closed-loop control uses classical PID Control algolithm employing equation below:

$\begin{array}{c}u\left(t\right)=K_p\&lsqb;e\left(t\right)+\frac{1}{T_i}\&Integral;e\left(t\right)dt+T_d\frac{d\left(e\right(t\left)\right)}{dt}\\ e\left(t\right)={\mathrm{\&omega;}}_{set}-{\mathrm{\&omega;}}_{fact}\end{array}---\left(4\right)$

Wherein, e (t) represents rotational angular velocity ω to be reached_setWith rearview mirror actual angular speed ω_factDifference, adopt The rotating speed of motor is controlled, controlled quentity controlled variable u (t) the amendment duty cycle adjustment rearview mirror that will calculate with pulse width modulation mode Angular velocity of rotation, K_pFor proportionality coefficient, T_iFor the coefficient time of integration, T_dFor coefficient derivative time.