CN104554060A - Method and system for increasing vehicle cornering safety - Google Patents

Method and system for increasing vehicle cornering safety Download PDF

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Publication number
CN104554060A
CN104554060A CN201410370779.6A CN201410370779A CN104554060A CN 104554060 A CN104554060 A CN 104554060A CN 201410370779 A CN201410370779 A CN 201410370779A CN 104554060 A CN104554060 A CN 104554060A
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China
Prior art keywords
camera
vehicle
coverage
shooting
former
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Granted
Application number
CN201410370779.6A
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Chinese (zh)
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CN104554060B (en
Inventor
徐杰
李博
贺锦鹏
王吉
徐现昭
周大永
刘卫国
吴成明
冯擎峰
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd
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Priority to CN201410370779.6A priority Critical patent/CN104554060B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration

Abstract

The invention provides a method and a system for increasing a vehicle cornering safety. The method for increasing the vehicle cornering safety includes the below steps: step 1, a sensor of a steering wheel angle detects the signal of the steering wheel angle in real time; step 2, after receiving the signal of the steering wheel angle, BCM (body control module) controller obtains an original shooting angle and an original shooting range and calculates a required rotation angle Phi to eliminate the shooting blind spots and/or an adjusted shooting range A ; step 3, a stepper motor driver camera rotates in a rotation angle Phi, and/or the original shooting range is adjusted as the adjusted shooting range. The BCM controller of the invention obtains the original shooting angle and the original shooting range and calculates the required rotation angle Phi to eliminate the shooting blind spots and/or the adjusted shooting range A; the stepper motor rotates in a rotation angle Phi by the driver camera or changes the original shooting angle or/and the original shooting range of a single camera and eliminates shooting blind spots of the single camera by adjusting the focal length of the camera.

Description

A kind ofly increase the method and system that curved safety crossed by vehicle
Technical field
The present invention relates to vehicle active safety field, particularly relating to a kind ofly increases the method and system that curved safety crossed by vehicle.
Background technology
Along with the development of Electronic transducer technology, camera is widely used in active safety systems of vehicles as environmental sensor, such as pedestrian's automatic emergency brake (AEB-P), lane departure warning (LDW) etc.By developing different algorithms, the camera being arranged in vehicle front windshield can be used for identifying the vehicle, pedestrian, bicycle, animal etc. in front.But when the vehicle is turning, there is shooting blind area due to the shooting angle restriction of traditional camera, the detection of active safety system to obstacle on bend can be affected.In order to eliminate the shooting blind area that Ackermann steer angle produces, can be solved by the multiple camera of layout, but cost significantly increases thereupon.
Summary of the invention
The object of the invention is to provide a kind of technology using single camera to eliminate shooting blind area.
Especially, the invention provides a kind ofly increases the method that curved safety crossed by vehicle, comprising:
Whether step one, steering wheel angle sensor detect in real time to receive and comprise the steering wheel angle signal whether vehicle enters bend and Vehicular turn;
Step 2, after receiving steering wheel angle signal, BCM controller obtains the former shooting angle of the camera on vehicle and former coverage, and calculates the anglec of rotation eliminating the described camera of shooting needed for blind area and/or coverage A after regulating;
Step 3, driving stepper motor camera rotate with anglec of rotation φ and change the former shooting angle of described camera; And/or stepping motor regulates the former coverage of described camera for regulating rear coverage A, eliminates the shooting blind area of described camera.
Further, in step 2:
According to formula try to achieve the anglec of rotation vehicle turn radius R is tried to achieve according to R=V/ γ;
Wherein, R is vehicle turn radius; V is the Vehicle Speed obtained by car speed sensor, and γ is the yaw velocity obtained by yaw-rate sensor; L be by calculate or the safety distance that is stored in advance in BCM controller.
Further, according to formula L=V (t react+ t delay)+V 2/ a maxtry to achieve described safety distance L, wherein, t reactfor time of driver's reaction, t delayfor brake system delay time, a maxfor the maximum deceleration of vehicle.
Further, t reactbe taken as 1.15s-1.25s, t delayt delaybe taken as 0.15s-0.25s, a maxbe taken as 7m/s 2-8m/s 2.
Further, in step 2:
Coverage A after described adjustment is calculated by formula A=S ' [tan (alpha-beta)+tan β] S ' [tan (α-θ)+tan θ];
Wherein, S ' is the focal length after regulating, and α is the half angle of view after regulating, and β is the angle of coverage A after described former coverage and described adjustment.
The present invention also provides a kind of increases the system that curved safety crossed by vehicle, and this system comprises:
Steering wheel angle sensor, whether detection receives and comprises the steering wheel angle signal whether vehicle enters bend and Vehicular turn;
BCM controller, obtains the former shooting angle of the camera on vehicle and former coverage, and calculates the anglec of rotation of the described camera eliminating shooting blind area and/or coverage A after regulating;
Stepping motor, drives camera rotate with anglec of rotation φ and change the former shooting angle of described camera; And/or regulate described camera for regulating rear coverage A, eliminate the shooting blind area of described camera.
Further, this system also comprises:
Yaw-rate sensor, for obtaining yaw velocity γ;
Car speed sensor, for obtaining Vehicle Speed V;
Described BCM controller is connected with described yaw-rate sensor and described car speed sensor, obtains described yaw velocity γ and described Vehicle Speed V to calculate the described anglec of rotation
Further, described stepping motor and described camera integrate, and described stepping motor and described camera are arranged in front windshield top and vehicle window frame junction.
Further, rack-driving, Chain conveyer or toothed belt transmission is selected between described stepping motor and described camera.
BCM controller of the present invention obtains the former shooting angle of the camera on vehicle and former coverage, and calculates the anglec of rotation eliminated and take needed for blind area and/or coverage A after regulating, stepping motor is by driving camera with the anglec of rotation to rotate or by regulating the focal length of camera, changing the former shooting angle of single camera or/and former coverage eliminate the shooting blind area of single camera.
According to hereafter by reference to the accompanying drawings to the detailed description of the specific embodiment of the invention, those skilled in the art will understand above-mentioned and other objects, advantage and feature of the present invention more.
Accompanying drawing explanation
Hereinafter describe specific embodiments more of the present invention with reference to the accompanying drawings by way of example, and not by way of limitation in detail.In accompanying drawing:
Fig. 1 is in obstacle in shooting blind area and the schematic graph of a relation of this car;
Fig. 2 is the former shooting angle obstruction of the change camera of Fig. 1 and the schematic graph of a relation of this car;
Fig. 3 is the schematic diagram calculation of vehicle turn radius R;
Fig. 4 is the anglec of rotation of camera schematic diagram calculation;
Fig. 5 is the schematic diagram of coverage A after regulating;
Fig. 6 increases the system layout that the system of curved safety crossed by vehicle;
Fig. 7 increases the workflow diagram that the system of curved safety crossed by vehicle.
Reference numeral in figure is as follows:
10-yaw-rate sensor, 20-car speed sensor, 30-steering wheel angle sensor, 40-BCM controller, 50-stepping motor, 60-camera, 70-CAN bus, 80-LIN bus, 90-obstacle;
This car of 100-;
200-front truck.
Detailed description of the invention
The present embodiment provides a kind of increases the method that curved safety crossed by vehicle, comprising: whether the detection in real time of step one, steering wheel angle sensor 30 receives and comprise the steering wheel angle signal whether vehicle enters bend and Vehicular turn.Step 2, after receiving steering wheel angle signal, BCM controller 40 obtains the former shooting angle of the camera on vehicle and former coverage, and calculates the anglec of rotation eliminating the described camera 60 of shooting needed for blind area and/or coverage A after regulating.Step 3, stepping motor 50 drive camera 60 rotate with anglec of rotation φ and change the former shooting angle of described camera 60; And/or stepping motor 50 regulates the former coverage of described camera 60 for regulating rear coverage A, eliminates the shooting blind area of described camera 60.The present invention can make single camera by changing the former shooting angle of camera and regulating the former coverage of camera to eliminate shooting blind area for regulating rear coverage A.
As shown in Figure 1, obstacle 90 is in the shooting blind area of this car 100.As shown in Figure 2, by by camera 60 with the anglec of rotation make obstacle 90 can be caught on camera 60 to right rotation to photograph.The anglec of rotation of camera 60 is specifically described below by Fig. 4 preparation method.
In the diagram, front truck 200 is in the shooting blind area of this car 100, in order to prevent this car 100 and front truck 200 from colliding, the camera of this car 100 must be enable to observe front truck 200.With reference to Fig. 4, can according to formula try to achieve the anglec of rotation and try to achieve vehicle turn radius R according to formula R=V/ γ.Wherein, R is vehicle (i.e. this car 100) turn radius.V is the Vehicle Speed obtained by car speed sensor 20, and γ is the yaw velocity obtained by yaw-rate sensor 10.L be by calculate or the safety distance that is stored in advance in BCM controller 40, be the arc length of this car 100 to front truck 200 in the diagram.The central angle of θ corresponding to safety distance.
In above-mentioned formula, vehicle turn radius R can be obtained divided by yaw velocity γ by Vehicle Speed V, uses formula L=V (t for safety distance L the present invention react+ t delay)+V 2/ a maxtry to achieve.Wherein, t reactfor time of driver's reaction, t delayfor brake system delay time, a maxfor the maximum deceleration of vehicle.According to test, t reactbe taken as 1.15s-1.25s, t delayt delaybe taken as 0.15s-0.25s, a maxbe taken as 7m/s 2-8m/s 2, such safety distance L is only relevant to variable Vehicle Speed V.In one embodiment, t reactbe taken as 1.2s, t delaybe taken as 0.2s, a maxbe taken as 7m/s 2.
Table 1 is the safety distance L of actual certain vehicle detected and the list of Vehicle Speed V.More known, the safety distance L calculated and the actual safety distance L detected is more or less the same, can each safety distance L corresponding for each Vehicle Speed V be stored in BCM controller 40 like this, directly can call corresponding safety distance L after car speed sensor 20 obtains Vehicle Speed V, and safety distance L need not be obtained by calculating.
Table 1
The speed of a motor vehicle (km/h) Safety distance (m)
30 20.3
40 31.0
50 43.6
60 58.1
70 74.5
80 92.8
Fig. 3 is a schematic diagram calculation of vehicle turn radius R, as shown in Figure 3, if the current time of this car 100 is the origin of coordinates, gets less time gap, this car 100 operating range is approximately straight line, v 0t is equivalent to the safety distance L in Fig. 4, (x 0, y 0), (x 1, y 1), (x 2, y 2) for this car 100 is at not coordinate in the same time, θ 0, θ 1for the angle of previous moment and this car 100 in a rear moment, and x ', y ' for this car 100 be (x at coordinate 1, y 1) time system of axes.Be carved with when i:
Displacement vector a i=(v ttcos θ tv ttsin θ t),
Transformation matrix of coordinates M t = cos θ t - sin θ t sin θ t cos θ t ,
( x 1 , y 1 ) = a 0 , ( x 2 , y 2 ) = M 1 a 1 + ( x 1 , y 1 ) , ( x 3 , y 3 ) = M 2 M 1 a 2 + ( x 2 , y 2 ) . . . ( x t , y t ) = Π n = 0 t M t a t - 1 + ( x t - 1 , y t - 1 ) .
Make y=ax2+bx+c, adopt least square fitting (x t, y t), then vehicle turn radius R = | ( 1 + y ′ ) 2 3 y ′ ′ | .
Come below to be described by Fig. 5 to regulate the former coverage of camera to be the method regulating rear coverage A.
In Figure 5, after regulating, coverage A equals S ' [tan (α-θ)+tan θ] S ' [tan (α-θ)+tan θ].Wherein, S ' is the focal length after regulating, and O is the former focus of camera 60, and O ' is the focus of the camera 60 after regulating.α is the half angle of view after regulating, and β is former coverage and the angle regulating rear coverage A.BCM controller 40 can obtain the former coverage N of camera 60, former half angle of view α ', directly calls safety distance L equal O ' Z according to the Vehicle Speed V of car speed sensor 20 acquisition.Accordingly, the length of M can be obtained, thus obtain A=M+N.When this car 100 is turned, can change the former shooting angle of camera 60 as main regulation means, be regulate rear coverage A as assistance regulating measure to eliminate the shooting blind area of camera 60 using regulating the former coverage of camera 60.In the process, coverage A after can increasing adjustment is gradually until bend edge falls in the scope of the rear coverage A of adjustment.Generally, when the vehicle is turning, reduce the focal length of camera 60 and make visual angle become large, after regulating, coverage A becomes large thereupon, thus eliminates shooting blind area, makes camera 60 clearly can photograph obstacle outside bend.
As shown in Figure 6, the present invention also provides a kind of increases the system that curved safety crossed by vehicle, comprises steering wheel angle sensor, yaw-rate sensor 10, car speed sensor 20, BCM controller 40 and stepping motor 50.Wherein, steering wheel angle sensor is for judging whether vehicle enters bend and obtain turning to of vehicle.Yaw-rate sensor 10 is for obtaining yaw velocity γ.Car speed sensor 20 is for obtaining Vehicle Speed V.Yaw velocity γ, Vehicle Speed V are input to BCM controller 40, BCM controller 40 by CAN 70 and obtain yaw velocity γ and Vehicle Speed V and calculate the anglec of rotation of camera 60 and be transferred to stepping motor 50 by LIN bus 80.Stepping motor 50 receives the described anglec of rotation and control camera 60 and rotate.Substantially, if vehicle turns right, then camera 60 rotates to the right; If vehicle is turned left, then camera 60 rotates to the left.According to system of the present invention, camera 60 can be made to realize the horizontal turning function of 8 °-15 °.In a preferred embodiment, camera 60 and follow-up steering headlight are shared the anglec of rotation, links at night and its maintenance.
In a preferred embodiment, stepping motor 50 and camera 60 integrate, thus stepping motor 50 fast driving camera 60 is rotated.When the stepping motor 50 of selection of small volume, stepping motor 50 and camera 60 can be made to be arranged in front windshield top and vehicle window frame junction and front windshield glass top black region.Transmission between stepping motor 50 and camera 60 can select rack-driving, Chain conveyer or toothed belt transmission.
Fig. 7 increases the workflow diagram that the system of curved safety crossed by vehicle, and in the step S10 started, vehicle ignition starts.In the step S20 of system electrification in the drawings, this system comprises yaw-rate sensor 10, car speed sensor 20, BCM controller 40, stepping motor 50 and steering wheel angle sensor herein.In step s 30, steering wheel angle sensor starts to detect whether receive steering wheel angle signal, and steering wheel angle signal not only comprises the signal whether vehicle enters bend, also comprises the turn sign of vehicle, such as left still to the right.In step s 40, if judge turn inside diameter, then carry out step S50, otherwise continued to detect whether receive steering wheel angle signal by steering wheel angle sensor.In step s 50, BCM controller 40 obtains yaw velocity γ that yaw-rate sensor 10 obtains and the Vehicle Speed V that car speed sensor 20 obtains and calculates the anglec of rotation of camera 60 in step S60, stepping motor 50 drives camera 60 to rotate, and the focal length changing camera 60 is regulate rear coverage A to regulate the former coverage of camera.In step S70, continue whether to be stopped to detect bearing circle angular signal by steering wheel angle sensor, terminate if then think to turn, then get back to the anglec of rotation that step S50 continues to calculate camera 60 if not this shows, multiple anglec of rotation can be produced in turn inside diameter process camera 60 is in lasting rotary course.In step S80, terminate owing to turning, make camera 60 return to initial shooting angle and initial focal length, playback process is carried out to camera 60.
So far, those skilled in the art will recognize that, although multiple exemplary embodiment of the present invention is illustrate and described herein detailed, but, without departing from the spirit and scope of the present invention, still can directly determine or derive other modification many or amendment of meeting the principle of the invention according to content disclosed by the invention.Therefore, scope of the present invention should be understood and regard as and cover all these other modification or amendments.

Claims (9)

1. increase the method that curved safety crossed by vehicle, it is characterized in that, comprising:
Whether the detection in real time of step one, steering wheel angle sensor (30) receives and comprises the steering wheel angle signal whether vehicle enters bend and Vehicular turn;
Step 2, after receiving steering wheel angle signal, BCM controller (40) obtains the former shooting angle of the camera on vehicle and former coverage, and calculates the anglec of rotation eliminating the described camera (60) of shooting needed for blind area and/or coverage A after regulating;
Step 3, stepping motor (50) drive camera (60) rotate with anglec of rotation φ and change the former shooting angle of described camera (60); And/or stepping motor (50) regulates the former coverage of described camera (60) for regulating rear coverage A, eliminates the shooting blind area of described camera (60).
2. method according to claim 1, is characterized in that, in step 2:
According to formula try to achieve the anglec of rotation vehicle turn radius R is tried to achieve according to R=V/ γ;
Wherein, R is vehicle turn radius; The Vehicle Speed of V for being obtained by car speed sensor (20), γ is the yaw velocity obtained by yaw-rate sensor (10); L be by calculate or the safety distance that is stored in advance in BCM controller (40).
3. method according to claim 2, is characterized in that:
According to formula L=V (t react+ t delay)+V 2/ a maxtry to achieve described safety distance L, wherein, t reactfor time of driver's reaction, t delayfor brake system delay time, a maxfor the maximum deceleration of vehicle.
4. method according to claim 3, is characterized in that:
T reactbe taken as 1.15s-1.25s, t delaybe taken as 0.15s-0.25s, a maxbe taken as 7m/s 2-8m/s 2.
5. method according to claim 1, is characterized in that, in step 2:
Coverage A after described adjustment is calculated by formula A=S ' [tan (alpha-beta)+tan β];
Wherein, S ' is the focal length after regulating, and α is the half angle of view after regulating, and β is the angle of coverage A after described former coverage and described adjustment.
6. increase the system that curved safety crossed by vehicle, it is characterized in that, comprising:
Steering wheel angle sensor (30), whether detection receives and comprises the steering wheel angle signal whether vehicle enters bend and Vehicular turn;
BCM controller (40), obtains the former shooting angle of the camera on vehicle and former coverage, and calculates the anglec of rotation of the described camera (60) eliminating shooting blind area and/or coverage A after regulating;
Stepping motor (50), drives camera (60) rotate with anglec of rotation φ and change the former shooting angle of described camera (60); And/or regulate described camera (60) for regulating rear coverage A, eliminate the shooting blind area of described camera (60).
7. system according to claim 6, is characterized in that, also comprises:
Yaw-rate sensor (10), for obtaining yaw velocity γ;
Car speed sensor (20), for obtaining Vehicle Speed V;
Described BCM controller (40) is connected with described yaw-rate sensor (10) and described car speed sensor (20), obtains described yaw velocity γ and described Vehicle Speed V to calculate the described anglec of rotation
8. system according to claim 6, is characterized in that:
Described stepping motor (50) and described camera (60) integrate, and described stepping motor (50) and described camera (60) are arranged in front windshield top and vehicle window frame junction.
9. system according to claim 7, is characterized in that,
Rack-driving, Chain conveyer or toothed belt transmission is selected between described stepping motor (50) and described camera (60).
CN201410370779.6A 2014-07-30 2014-07-30 It is a kind of to increase the method and system of the excessively curved security of vehicle Active CN104554060B (en)

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