CN104908734A - Control method and system of intelligent vehicle - Google Patents
Control method and system of intelligent vehicle Download PDFInfo
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- CN104908734A CN104908734A CN201510256513.3A CN201510256513A CN104908734A CN 104908734 A CN104908734 A CN 104908734A CN 201510256513 A CN201510256513 A CN 201510256513A CN 104908734 A CN104908734 A CN 104908734A
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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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
- B60W2552/00—Input parameters relating to infrastructure
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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
- B60W2554/00—Input parameters relating to objects
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a control method and system of an intelligent vehicle, and belongs to the technical field of automobile control. The system comprises a main control processing unit, an environment detecting unit, a whole-vehicle CAN network, a GPS-navigating unit, an vehicle state control unit and a driving execution unit, wherein the environment detecting unit is used for detecting the environment information of the vehicle; the whole-vehicle CAN network is used for offering the traveling state information of the vehicle to the main control processing unit; the GPS-navigating unit is used for confirming route information; the vehicle state control unit is used for controlling the driving execution unit so as to control the state of the vehicle; the main control processing unit is used for controlling the vehicle state through the vehicle state control unit according to the environment information, the traveling state information and the route information. The system disclosed by the invention solves the problems that the control system of the intelligent vehicle is lower in universality and higher in cost; the effects of improving the universality of the control system of the intelligent vehicle and reducing the cost are achieved, and the system is used for performing intelligent control on the vehicle.
Description
Technical field
The present invention relates to technical field of automobile control, particularly a kind of intelligent vehicle control method and system.
Background technology
Along with the fast development of auto-industry and improving constantly of people's living standard, automobile enters average family fast, but the traffic jam thereupon occurred, traffic accident is but risen year by year, in order to address these problems, intelligent vehicle towards intelligent transportation arises at the historic moment, and intelligent vehicle control technology gets the attention.
In prior art, intelligent vehicle control technology can be travelled by handling at any time, also can automatic running, and intelligent vehicle control system is made up of navigationsystem, context aware systems, autonomous cruise speed system.System adopts 360 ° of scanning laser radar, millimeter wave radar and cameras realization perception to surrounding environment, (English: Electronic Power Steering in conjunction with electric power steering; Be called for short: EPS) control unit and electronic stability control (English: Electronic Stability Control; Be called for short: ESC) unit realizes the horizontal and vertical control to vehicle.
But the structure of above-mentioned intelligent vehicle control system is more complicated, and cost of development is higher, and time-to-market is longer, therefore, the commonality of this system is lower, and cost is higher.
Summary of the invention
Lower in order to solve existing intelligent vehicle control system commonality, and the problem that cost is higher, the invention provides a kind of intelligent vehicle control method and system.Described technical scheme is as follows:
First aspect, provide a kind of intelligent vehicle control system, described system comprises: main control-processing unit, environment detection unit, entire car controller local area network CAN network, global position system GPS navigation elements, vehicle-state control unit and driving performance element;
Described environment detection unit is used for the environmental information of detection vehicle;
Described car load CAN network is used for the running condition information providing described vehicle to described main control-processing unit;
Described GPS navigation unit is used for carrying out route planning according to the starting point of chaufeur setting and terminal, and determines route information;
Described vehicle-state control unit is used for controlling by controlling the state of described driving performance element to described vehicle;
Described main control-processing unit is connected with described environment detection unit, described GPS navigation unit, described car load CAN network and described vehicle-state control unit respectively by CAN, for according to described environmental information, described running condition information and described route information, controlled by the state of described vehicle-state control unit to described vehicle.
Optionally, described vehicle-state control unit comprises: engine management system EMS control unit, electronic stability control ESC unit, electric power steering EPS control unit;
Described driving performance element comprises: driving engine, brake unit and steering unit;
Described EMS control unit is used for carrying out acceleration control by controlling described driving engine to described vehicle;
Described ESC unit is used for carrying out control for brake by controlling described brake unit to described vehicle;
Described EPS control unit is used for carrying out course changing control by controlling described steering unit to described vehicle.
Optionally, the environmental information of described vehicle comprises: the light information of the obstacle information of described vehicle periphery, the traffic information of described vehicle front and current driving environment;
Described environment detection unit comprises: radar sensor and vision sensor,
Described radar sensor is used for the state of the obstacle around detection vehicle;
Described vision sensor is used for the road conditions of vehicle front and the light of current driving environment described in perception.
Optionally, described system also comprises: image detecting element, alarm unit, voice recognition unit, multimedia terminal and vehicular wireless network communication unit;
Described image detecting element is for detecting the driving condition of described chaufeur;
Described alarm unit is used for when described chaufeur is in fatigue driving state or described vehicle breaks down, and sends alerting signal and reports to the police;
Described voice recognition unit is used for carrying out Voice command to described intelligent vehicle control system, to control the state of described vehicle according to the phonetic order of described chaufeur;
Described multimedia terminal is for showing environmental information and the running condition information of described vehicle;
Described vehicular wireless network communication unit is used for and the vehicle of described vehicle periphery carries out truck traffic.
Optionally, the running condition information of described vehicle comprises the speed of described vehicle, wheel speed, transverse acceleration, longitudinal acceleration and yaw velocity.
Optionally, described system also comprises: forward sight camera;
Described radar sensor comprises: forward looking radar sensors and rear looking radar sensors;
Described forward looking radar sensors for detecting distance, the orientation and velocity of obstacle for described vehicle of described vehicle front, and determines size and the type of the obstacle of described vehicle front by described forward sight camera;
Described rear looking radar sensors, for detecting distance, the orientation and velocity of obstacle for described vehicle of described rear view of vehicle, controls described vehicle and carries out lane change and reversing.
Optionally, described radar sensor is millimeter wave radar sensor.
Optionally, described alarm unit comprises visual alarm unit, sound sensation alarm unit and haptic alert unit.
Optionally, described vehicular wireless network communication unit is also for carrying out Long-distance Control to intelligent appliance.
Second aspect, provide a kind of intelligent vehicle control method, described method comprises:
The environmental information of detection vehicle;
Obtain the running condition information of described vehicle;
The starting point set according to chaufeur and terminal carry out route planning, and determine route information;
Control according to described environmental information, described running condition information and the state of described route information to described vehicle.
The invention provides a kind of intelligent vehicle control method and system, by the environmental information of detection vehicle, obtain the running condition information of vehicle, the starting point set according to chaufeur and terminal carry out route planning, and determine route information, thus environmentally information, running condition information and the route information state to vehicle controls, compared to existing intelligent vehicle control technology, structure is simpler, cost of development is lower, and time-to-market is shorter, therefore, improve commonality, and reduce cost.
Should be understood that, it is only exemplary and explanatory that above general description and details hereinafter describe, and can not limit the present invention.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of intelligent vehicle control system that the embodiment of the present invention provides;
Fig. 2 is the structural representation of the another kind of intelligent vehicle control system that the embodiment of the present invention provides;
Fig. 3 is the diagram of circuit of a kind of intelligent vehicle control method that the embodiment of the present invention provides.
By above-mentioned accompanying drawing, illustrate the embodiment that the present invention is clear and definite more detailed description will be had hereinafter.These accompanying drawings and text description be not in order to limited by any mode the present invention design scope, but by reference to specific embodiment for those skilled in the art illustrate concept of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Embodiments provide a kind of intelligent vehicle control system, as shown in Figure 1, this system comprises: main control-processing unit 01, environment detection unit 02, entire car controller local area network are (English: Controller AreaNetwork; Be called for short: CAN) network 03, global positioning system (English: Global Positioning System; Be called for short: GPS) navigation elements 04, vehicle-state control unit 05 and driving performance element 06.
Wherein, environment detection unit 02 is for the environmental information of detection vehicle.
The running condition information of car load CAN network 03 for providing vehicle to main control-processing unit 01.Main control-processing unit 01 is connected with car load CAN network 03 by CAN communication interface, obtains the running condition information of vehicle.
GPS navigation unit 04 carries out route planning for the starting point that sets according to chaufeur and terminal, and determines route information.GPS navigation unit realizes the route planning of the vehicle overall situation, according to starting point and the terminal of chaufeur setting, and the overall route of planning and local route automatically.
Vehicle-state control unit 05 is for controlling by controlling the state of driving performance element to vehicle.The state of vehicle comprises the transverse state of vehicle and longitudinal state.
Main control-processing unit 01 is connected with environment detection unit 02, GPS navigation unit 04, car load CAN network 03 and vehicle-state control unit 05 respectively by CAN, for environmentally information, running condition information and route information, controlled by the state of vehicle-state control unit 05 pair of vehicle, comprise the crosswise joint to vehicle and longitudinally control.
In sum, the intelligent vehicle control system that the embodiment of the present invention provides, by the environmental information of detection vehicle, obtain the running condition information of vehicle, the starting point set according to chaufeur and terminal carry out route planning, and determine route information, thus environmentally information, running condition information and the route information state to vehicle controls, compared to existing intelligent vehicle control technology, structure is simpler, and cost of development is lower, time-to-market is shorter, this improves commonality, and reduce cost.
The structural representation of the another kind of intelligent vehicle control system that Fig. 2 provides for the embodiment of the present invention, as shown in Figure 2, vehicle-state control unit 05 comprises: engine management system is (English: Engine ManagementSystem; Be called for short: EMS) control unit 051, ESC unit 052, EPS control unit 053.Performance element 06 is driven to comprise: driving engine 061, brake unit 062 and steering unit 063.By giving each vehicle-state control unit input required control inputs signal, vehicle is controlled, namely by the output of each vehicle-state control unit simulation electronic Das Gaspedal, electronic brake pedal and EPS torque sensor, the control realizing the acceleration to vehicle, brake and turn to.
EMS control unit 051 is for carrying out acceleration control by controlling driving engine 061 pair of vehicle.Main control-processing unit produces two-way analog signal simulation electronic Das Gaspedal by circuit, exports to EMS control unit, thus realizes controlling the acceleration of vehicle.
ESC unit 052 is for carrying out control for brake by controlling brake unit 062 pair of vehicle.Main control-processing unit produces two-way analog signal simulation electronic brake pedal by circuit, exports to ESC unit, thus realizes the control for brake to vehicle.
EPS control unit 053 is for carrying out course changing control by controlling steering unit 063 pair of vehicle.Main control-processing unit produces two-way analog signal simulation EPS torque sensor by circuit, outputs signal to EPS control unit, thus realizes the course changing control to vehicle.
The environmental information of vehicle comprises: the light information of the obstacle information of vehicle periphery, the traffic information of vehicle front and current driving environment.As shown in Figure 2, environment detection unit 02 comprises: radar sensor 021 and vision sensor 022.
Wherein, radar sensor 021 is for the state of the obstacle around detection vehicle.Example, radar sensor can be millimeter wave radar sensor.Adaptive learning algorithms can be used further (English: Adaptive Cruise Control; Be called for short: the state of obstacle ACC) around preposition millimeter wave radar sensor detection vehicle.Millimeter wave radar sensor refers to the radar sensor being operated in millimeter wave band, and its frequency of operation is generally 24 ~ 300GHz (gigahertz (GHZ)).
The road conditions of vision sensor 022 for perception vehicle front and the light of current driving environment.Vision sensor can the front road conditions such as the identification of perception vehicle front target, Lane detection, road Identification, simultaneously can perception ambient light, when the vehicle is running, if evening or enter in the environment of the dark such as culvert, vision sensor then controls vehicle automatic open position lamp, passing light, country beam; If the rainy day, vision sensor then controls vehicle and automatically opens fog lamp; If detect that front has other vehicles close, vision sensor then controls vehicle and automatically cuts out country beam.In addition, when the vehicle is turning, vision sensor controls vehicle and automatically opens turn side light compensating lamp, illuminates turning blind area, improves traffic safety.
As shown in Figure 2, this system also comprises: image detecting element 07, alarm unit 08, voice recognition unit 09, multimedia terminal 10 and vehicular wireless network communication unit 11.Wherein, image detecting element 07, for detecting the driving condition of chaufeur, identifies whether chaufeur is in fatigue driving state; Alarm unit 08, for when chaufeur is in fatigue driving state or vehicle breaks down, sends alerting signal and reports to the police; Voice recognition unit 09 carries out Voice command for the phonetic order according to chaufeur to intelligent vehicle control system, to control the state of vehicle.Multimedia control can be carried out by voice recognition unit, call, remote network control and coordinate image detecting element to realize the Based Intelligent Control of luminous environment in car etc.; Multimedia terminal 10 is for showing environmental information and the running condition information of vehicle; Vehicular wireless network communication unit 11 is for carrying out truck traffic with the vehicle of vehicle periphery.Vehicular wireless network communication unit is also for carrying out Long-distance Control to intelligent appliance.Vehicular wireless network communication unit realizes Wireless Networking and Long-distance Control, can realize the Long-distance Control to intelligent appliance, car networking, service and automatic help etc.In addition, when alarm unit can also be used for being in the dangerous situations such as hypervelocity at vehicle, send alerting signal and report to the police.
Main control-processing unit 01 is connected with car load CAN network 03 by CAN communication interface, obtains the running condition information of vehicle.Example, the running condition information of vehicle can comprise the speed of vehicle, wheel speed, transverse acceleration, longitudinal acceleration and yaw velocity.
As shown in Figure 2, this system also comprises: forward sight camera (not drawing in Fig. 2).Radar sensor 021 comprises: forward looking radar sensors 0211 and rear looking radar sensors 0212.Forward looking radar sensors 0211 for distance, the orientation and velocity of vehicle for the obstacle in detection vehicle front, and by the size of the obstacle of forward sight camera determination vehicle front and type, improves accuracy of identification, realizes Decision Control more accurately; Rear looking radar sensors 0212 for distance, the orientation and velocity of vehicle for the obstacle at detection vehicle rear, controls vehicle and carries out lane change and reversing.Rear looking radar sensors detection rear area target, realizes blind area detection, automatically lane change additional function, realizes rear reverse collision prevention and cross roads function of preventing collision during reversing simultaneously.
Optionally, as shown in Figure 2, alarm unit 08 comprises visual alarm unit 081, sound sensation alarm unit 082 and haptic alert unit 083.Concrete, when image detecting element 07 detects that chaufeur is in fatigue driving state, visual alarm unit 081 can demonstrate alarm image to chaufeur, so that chaufeur is taken measures in time according to the alerting signal seen; When image detecting element 07 detects that chaufeur is in fatigue driving state, sound sensation alarm unit 082 can send alarm sound to chaufeur, so that chaufeur is taken measures in time according to the alarm sound heard; When image detecting element 07 detects that chaufeur is in fatigue driving state, haptic alert unit 083 can be touched the health of chaufeur, so that chaufeur is taken measures after feeling in time.It should be noted that, when image detecting element 07 detects that chaufeur is in fatigue driving state, voice reminder can also be carried out by multimedia terminal 10, remind chaufeur to take a good rest.Same, visual alarm unit 081, sound sensation alarm unit 082 and haptic alert unit 083 also can send alerting signal when vehicle breaks down or be in dangerous situation and report to the police.It should be added that, other labels in Fig. 2 can be described by the label in reference diagram 1, do not repeat them here.
It should be noted that, main control-processing unit can arrange the change-over switch of manual drive pattern and intelligent driving patten transformation, when losing the ability controlled vehicle when system malfunctions, intelligent driving pattern can be switched by change-over switch by chaufeur turns round and stretches out the hand dynamic driving model.Main control-processing unit adopts efp, electronic brake pedal, EPS torque sensor output signal by circuit, catch chaufeur manipulation intention, judge whether chaufeur intervenes, the switching adopting electronic analog swtich to realize between signal that former signals of vehicles and main control-processing unit signal circuit produce, the control realizing the acceleration to vehicle, brake and turn to.After chaufeur has carried out intervening, wagon control power has been switched to former vehicle sensors and has controlled vehicle, and master mode is switched to manual drive pattern by intelligent driving pattern.
The embodiment of the present invention integrates the sensor resource of existing active safety systems of vehicles, do not change former driving, braking and steering unit simultaneously, increase main control-processing unit, set up the interface of main control-processing unit and sensor, produce analog signal by circuit to realize, to the acceleration of vehicle, the control of braking and turning to, realizing environment sensing and the intelligent driving of intelligent vehicle.The structure of this intelligent vehicle control system is simple, and cost is low, highly versatile, is convenient to switch between intelligent driving pattern and manual drive pattern, is applicable to any automatic catch, adopts the vehicle of electric power steering, electric braking.The vehicle into electronic or hydraulic power-assisted steering is turned to as can be used for.
In sum, the intelligent vehicle control system that the embodiment of the present invention provides, by the environmental information of detection vehicle, obtain the running condition information of vehicle, the starting point set according to chaufeur and terminal carry out route planning, and determine route information, thus environmentally information, running condition information and the route information state to vehicle controls, compared to existing intelligent vehicle control technology, structure is simpler, and cost of development is lower, time-to-market is shorter, this improves commonality, and reduce cost.
Embodiments provide a kind of intelligent vehicle control method, as shown in Figure 3, the method comprises:
The environmental information of step 301, detection vehicle.
The environmental information of vehicle comprises: the light information of the obstacle information of vehicle periphery, the traffic information of vehicle front and current driving environment.
The running condition information of step 302, acquisition vehicle.
The running condition information of vehicle can comprise the speed of vehicle, wheel speed, transverse acceleration, longitudinal acceleration and yaw velocity.
Step 303, carry out route planning according to the starting point of chaufeur setting and terminal, and determine route information.
According to starting point and the terminal of chaufeur setting, the overall route of planning and local route automatically.
Step 304, environmentally information, running condition information and the route information state to vehicle controls.
Carry out control to the state of vehicle to comprise and vehicle carried out to acceleration controls, control for brake and course changing control, complete the crosswise joint of vehicle and longitudinally control.
In sum, the intelligent vehicle control method that the embodiment of the present invention provides, by the environmental information of detection vehicle, obtain the running condition information of vehicle, the starting point set according to chaufeur and terminal carry out route planning, and determine route information, thus environmentally information, running condition information and the route information state to vehicle controls, compared to existing intelligent vehicle control technology, structure is simpler, and cost of development is lower, time-to-market is shorter, this improves commonality, and reduce cost.
Those skilled in the art can be well understood to, and for convenience and simplicity of description, the corresponding process in the embodiment of the method for foregoing description, with reference to the specific works process of aforementioned system and unit, can not repeat them here.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an intelligent vehicle control system, it is characterized in that, described system comprises: main control-processing unit, environment detection unit, entire car controller local area network CAN network, global position system GPS navigation elements, vehicle-state control unit and driving performance element;
Described environment detection unit is used for the environmental information of detection vehicle;
Described car load CAN network is used for the running condition information providing described vehicle to described main control-processing unit;
Described GPS navigation unit is used for carrying out route planning according to the starting point of chaufeur setting and terminal, and determines route information;
Described vehicle-state control unit is used for controlling by controlling the state of described driving performance element to described vehicle;
Described main control-processing unit is connected with described environment detection unit, described GPS navigation unit, described car load CAN network and described vehicle-state control unit respectively by CAN, for according to described environmental information, described running condition information and described route information, controlled by the state of described vehicle-state control unit to described vehicle.
2. system according to claim 1, is characterized in that, described vehicle-state control unit comprises: engine management system EMS control unit, electronic stability control ESC unit, electric power steering EPS control unit;
Described driving performance element comprises: driving engine, brake unit and steering unit;
Described EMS control unit is used for carrying out acceleration control by controlling described driving engine to described vehicle;
Described ESC unit is used for carrying out control for brake by controlling described brake unit to described vehicle;
Described EPS control unit is used for carrying out course changing control by controlling described steering unit to described vehicle.
3. system according to claim 2, is characterized in that, the environmental information of described vehicle comprises: the light information of the obstacle information of described vehicle periphery, the traffic information of described vehicle front and current driving environment;
Described environment detection unit comprises: radar sensor and vision sensor,
Described radar sensor is used for the state of the obstacle around detection vehicle;
Described vision sensor is used for the road conditions of vehicle front and the light of current driving environment described in perception.
4. system according to claim 2, is characterized in that, described system also comprises: image detecting element, alarm unit, voice recognition unit, multimedia terminal and vehicular wireless network communication unit;
Described image detecting element is for detecting the driving condition of described chaufeur;
Described alarm unit is used for when described chaufeur is in fatigue driving state or described vehicle breaks down, and sends alerting signal and reports to the police;
Described voice recognition unit is used for carrying out Voice command to described intelligent vehicle control system, to control the state of described vehicle according to the phonetic order of described chaufeur;
Described multimedia terminal is for showing environmental information and the running condition information of described vehicle;
Described vehicular wireless network communication unit is used for and the vehicle of described vehicle periphery carries out truck traffic.
5. system according to claim 1, is characterized in that, the running condition information of described vehicle comprises the speed of described vehicle, wheel speed, transverse acceleration, longitudinal acceleration and yaw velocity.
6. system according to claim 3, is characterized in that, described system also comprises: forward sight camera;
Described radar sensor comprises: forward looking radar sensors and rear looking radar sensors;
Described forward looking radar sensors for detecting distance, the orientation and velocity of obstacle for described vehicle of described vehicle front, and determines size and the type of the obstacle of described vehicle front by described forward sight camera;
Described rear looking radar sensors, for detecting distance, the orientation and velocity of obstacle for described vehicle of described rear view of vehicle, controls described vehicle and carries out lane change and reversing.
7. system according to claim 3, is characterized in that,
Described radar sensor is millimeter wave radar sensor.
8. system according to claim 4, is characterized in that,
Described alarm unit comprises visual alarm unit, sound sensation alarm unit and haptic alert unit.
9. system according to claim 4, is characterized in that,
Described vehicular wireless network communication unit is also for carrying out Long-distance Control to intelligent appliance.
10. an intelligent vehicle control method, is characterized in that, described method comprises:
The environmental information of detection vehicle;
Obtain the running condition information of described vehicle;
The starting point set according to chaufeur and terminal carry out route planning, and determine route information;
Control according to described environmental information, described running condition information and the state of described route information to described vehicle.
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