CN105346542A - Automobile low-speed following driving assistance system and decision making method of automobile low-speed following driving assistance system - Google Patents
Automobile low-speed following driving assistance system and decision making method of automobile low-speed following driving assistance system Download PDFInfo
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- CN105346542A CN105346542A CN201510866645.8A CN201510866645A CN105346542A CN 105346542 A CN105346542 A CN 105346542A CN 201510866645 A CN201510866645 A CN 201510866645A CN 105346542 A CN105346542 A CN 105346542A
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- automobile
- speed
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- assist system
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000003993 interaction Effects 0.000 claims description 6
- 206010039203 Road traffic accident Diseases 0.000 abstract description 8
- 238000012544 monitoring process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
Classifications
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
-
- 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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an automobile low-speed following driving assistance system and a decision making method of the automobile low-speed following driving assistance system. The system comprises a distance sensor, a signal processing unit, a control unit and an automobile interface unit, wherein the distance sensor is used for detecting the spacing distance between a current automobile and a preceding automobile; the output end of the distance senor is connected with the signal processing unit; the output end of the signal processing unit is connected with the control unit; the output end of the control unit is connected with an automobile driving unit through the automobile interface unit; a speed sensor used for collecting automobile running speed information is arranged in the automobile driving unit; and the output end of the speed sensor is connected with the signal processing unit through the automobile interface unit. The system can be used for assisting an automobile driver to operate the automobile to advance or to brake in a traffic jam driving state; the driving fatigue degree of the driver can be reduced; the occurrence of traffic accidents is prevented; the distance with the preceding automobile can be monitored and controlled in real time; the occurrence of traffic accidents such as rear-end collision can be effectively avoided; the traffic efficiency of the automobile can also be improved; and the traffic jam is relieved.
Description
Technical field
The invention belongs to field of automobile, particularly a kind of automobile low speed follows drive assist system and decision-making technique thereof.
Background technology
At present, vehicle drive ancillary technique is applied in various automobile product more and more, and its radical function is exactly the driving that car assisted chaufeur operates and controls automobile, improves safety and the traveling comfort of vehicle drive.From early stage automatic window, the track of popular use till now keeps ancillary system, automatic parking ancillary system, BAS, reversing aid system, adaptive cruise control system etc.The operation that these drive assist systems are very easy to automobile uses, and improves safety and the traveling comfort of vehicle drive.
The situation of traffic congestion often all can be met with the people of city drive.In this case, usual road speed is all comparatively slow, and loiters, and just traveling a bit of having to again stops, so repeatedly.In such driving procedure, chaufeur must observe the traffic status of road at any time, and frequent operation automobile starting moves ahead or stops.Under this driving condition; chaufeur usually can be driven because of attention high concentration and frequent operation and more easily produce fatigue; discomfort is brought, and the generation of the traffic accidents such as extension that easily cause knocking into the back, wipe to health, thus the situation of aggravation traffic congestion further.And in existing vehicle drive ancillary system, also do not have under this driving condition, the drive assist system of automobile driver operation and control automobile to be helped.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, there is provided a kind of under traffic congestion driving condition, car assisted driver's operation automobile front driving and parking, effectively can alleviate the driving fatigue degree of chaufeur, the automobile low speed that prevention traffic accident occurs follows drive assist system and decision-making technique thereof.
The object of the invention is to be achieved through the following technical solutions: a kind of automobile low speed follows drive assist system, comprise rang sensor, signal processing unit, control unit and automobile interface unit, rang sensor is for detecting the spacing distance of this car and front truck, the mouth of rang sensor is connected with signal processing unit, the mouth connection control unit of signal processing unit, the mouth of control unit connects Automobile drive unit by automobile interface unit, the speed sensor for gathering automobile driving speed information is provided with in Automobile drive unit, the mouth of speed sensor is through automobile interface unit connection signal processing unit.
Further, described low speed is followed drive assist system and is also comprised a man-machine interaction unit, and described man-machine interaction unit comprises follows the button of drive assist system and the telltale for showing current distance information and car speed information for allowing chaufeur open and close low speed.
Further, described signal processing unit comprises multiple comparator, and whether the distance that whether distance being respectively used to relatively this car and front truck is less than the parking threshold value of setting, whether the speed of a motor vehicle of this car is greater than zero, whether the speed of a motor vehicle of this car is greater than the maximum speed thresholding of setting, Ben Che and front truck is greater than the enabling gate limit value of setting.
A kind of automobile low speed follows drive assist system decision-making technique, comprises the following steps:
S1, chaufeur open and close drive assist system by button;
S2, judge whether drive assist system starts, if do not start, closing automobile speed-slackening signal, closing automobile actuation signal, exits operation; Otherwise carry out next step;
Whether S3, the distance detecting this car and front truck are less than the parking threshold value (V) of setting, if then opening automobile speed-slackening signal, and closing automobile actuation signal, operation parking of automobile, and return step S2; Otherwise carry out next step;
Whether S4, the speed of a motor vehicle detecting this car are greater than zero, then carry out step S5 if not, if then carry out step S6;
Whether S5, the distance detecting this car and front truck are greater than the enabling gate limit value of setting, if then closing automobile speed-slackening signal, and opening automobile actuation signal, operation automobile front driving, and return step S2; Otherwise opening automobile speed-slackening signal, closing automobile actuation signal, operation parking of automobile, and return step S2;
Whether S6, the speed of a motor vehicle detecting this car are greater than the maximum speed thresholding of setting, if then opening automobile speed-slackening signal, and closing automobile actuation signal, operation car deceleration travels, and returns step S2; Otherwise closing automobile speed-slackening signal, opening automobile actuation signal, operation automobile front driving, and return step S2.
The invention has the beneficial effects as follows:
1, under traffic congestion driving condition, the moving ahead and stopping of car assisted driver's operation automobile, effectively can alleviate the driving fatigue degree of chaufeur, the generation of prevention traffic accident, the situation that can also reduce " human element is added stifled " occurs, the situation alleviating traffic congestion can be helped to a certain extent, effectively can improve safety and the traveling comfort of vehicle drive;
2, also can control with the minimum safe distance of front truck by Real-Time Monitoring, effectively can avoid the generation of traffic accidents such as knocking into the back, improve the safety of driving; Real-Time Monitoring also controls, with the ultimate range of front truck, can improve the traffic efficiency of automobile, can help the situation alleviating traffic congestion to a certain extent;
3, Real-Time Monitoring also controls the maximum speed of driving, provides necessary safety control for driver's operation controls this driving model of following.
Accompanying drawing explanation
Fig. 1 is drive assist system constructional drawing of the present invention;
Fig. 2 is drive assist system decision flow diagram of the present invention.
Detailed description of the invention
Technical scheme of the present invention is further illustrated below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of automobile low speed of the present invention follows drive assist system, comprise rang sensor, signal processing unit, control unit and automobile interface unit, rang sensor is for detecting the spacing distance of this car and front truck, the mouth of rang sensor is connected with signal processing unit, the mouth connection control unit of signal processing unit, the mouth of control unit connects Automobile drive unit by automobile interface unit, the speed sensor for gathering automobile driving speed information is provided with in Automobile drive unit, the mouth of speed sensor is through automobile interface unit connection signal processing unit.
Further, described low speed is followed drive assist system and is also comprised a man-machine interaction unit, and described man-machine interaction unit comprises follows the button of drive assist system and the telltale for showing current distance information and car speed information for allowing chaufeur open and close low speed.
Further, described signal processing unit comprises multiple comparator, and whether the distance that whether distance being respectively used to relatively this car and front truck is less than the parking threshold value of setting, whether the speed of a motor vehicle of this car is greater than zero, whether the speed of a motor vehicle of this car is greater than the maximum speed thresholding of setting, Ben Che and front truck is greater than the enabling gate limit value of setting.
A kind of automobile low speed of the present invention follows the principle of work of drive assist system and working process is described below: this overlaps drive assist system and is controlled to open or close by chaufeur, drive assist system on period, rang sensor detects the spacing distance with front truck in real time, and the range information detected is sent to signal processing unit in real time; The current driving speed information of automobile sends to signal processing unit in real time through automobile interface unit; Signal processing unit utilizes the real-time Distance geometry road speed information received, and carries out decision-making according to the decision process set, and the corresponding braking of transmission in real time or actuation signal are to automobile interface unit; Automobile interface unit is responsible for the velocity information of current running car to send to signal processing unit on the one hand, on the other hand according to the braking received or actuation signal, goes operation parking of automobile or startup to move ahead.As shown in Figure 2, a kind of automobile low speed of the present invention follows drive assist system decision-making technique to idiographic flow, comprises the following steps:
S1, chaufeur open and close drive assist system by button;
S2, judge whether drive assist system starts, if do not start, closing automobile speed-slackening signal, closing automobile actuation signal, exits operation; Otherwise carry out next step;
Whether S3, the distance detecting this car and front truck are less than the parking threshold value (V) of setting, if then opening automobile speed-slackening signal, and closing automobile actuation signal, operation parking of automobile, and return step S2; Otherwise carry out next step;
Whether S4, the speed of a motor vehicle detecting this car are greater than zero, then carry out step S5 if not, if then carry out step S6;
Whether S5, the distance detecting this car and front truck are greater than the enabling gate limit value of setting, if then closing automobile speed-slackening signal, and opening automobile actuation signal, operation automobile front driving, and return step S2; Otherwise opening automobile speed-slackening signal, closing automobile actuation signal, operation parking of automobile, and return step S2;
Whether S6, the speed of a motor vehicle detecting this car are greater than the maximum speed thresholding of setting, if then opening automobile speed-slackening signal, and closing automobile actuation signal, operation car deceleration travels, and returns step S2; Otherwise closing automobile speed-slackening signal, opening automobile actuation signal, operation automobile front driving, and return step S2.
Two are had for the distance threshold value of comparison decision: one is " parking threshold value (V) " in decision flow diagram shown in Fig. 2, it is used to compare the parameter value determined the need of performing shut-down operation, consider the factor of stopping distance, usually it is the function of vehicle velocity V, increases along with the increase of the speed of a motor vehicle; Another is " enabling gate limit value ", and when automobile is in dead ship condition, when being greater than this parameter value if monitor with the spacing distance of front truck, operation automobile starting moves ahead by drive assist system.Decision flow diagram is as shown in Figure 2 known, and this drive assist system mainly completes three tasks: one be when detect to be less than " parking threshold value (V) " with the spacing distance of front truck time, operation parking of automobile is to ensure traffic safety; Two be when detect to be greater than " enabling gate limit value " with the spacing distance of front truck time, operation automobile starting moves ahead; Three is when detecting that road speed is greater than " maximum speed thresholding ", and operation car deceleration moves ahead to ensure safety.
A kind of automobile low speed of the application follows drive assist system, can under traffic congestion driving condition, and moving ahead and stopping of car assisted driver's operation automobile, effectively can alleviate the driving fatigue degree of chaufeur, the generation of prevention traffic accident; Real-Time Monitoring also controls, with the minimum following distance of front truck, effectively to avoid the generation of traffic accidents such as knocking into the back, improves the safety of driving; Real-Time Monitoring also controls, with the maximum following distance of front truck, can improve the traffic efficiency of automobile, can help the situation alleviating traffic congestion to a certain extent; Real-Time Monitoring also controls the maximum speed of driving, provides necessary safety control for driver's operation controls this driving model of following.The situation that can reduce " human element is added stifled " in addition occurs, and can help the situation alleviating traffic congestion to a certain extent, effectively can improve safety and the traveling comfort of vehicle drive.
It should be noted that: a kind of automobile low speed of this patent design follows drive assist system, a kind of under specific driving environment condition, the ancillary system of car assisted driver's operation and control vehicle drive, it can only help automobile driver to complete a part of operating function of Driving Operation of Motor Vehicles, but automobile driver can not be replaced to complete whole driver behaviors to automobile, and the work such as manipulating vehicle steering still needs to have been operated by chaufeur.
Those of ordinary skill in the art will appreciate that, embodiment described here is to help reader understanding's principle of the present invention, should be understood to that protection scope of the present invention is not limited to so special statement and embodiment.Those of ordinary skill in the art can make various other various concrete distortion and combination of not departing from essence of the present invention according to these technology enlightenment disclosed by the invention, and these distortion and combination are still in protection scope of the present invention.
Claims (4)
1. an automobile low speed follows drive assist system, it is characterized in that, comprise rang sensor, signal processing unit, control unit and automobile interface unit, rang sensor is for detecting the spacing distance of this car and front truck, the mouth of rang sensor is connected with signal processing unit, the mouth connection control unit of signal processing unit, the mouth of control unit connects Automobile drive unit by automobile interface unit, the speed sensor for gathering automobile driving speed information is provided with in Automobile drive unit, the mouth of speed sensor is through automobile interface unit connection signal processing unit.
2. automobile low speed according to claim 1 follows drive assist system, it is characterized in that, described low speed is followed drive assist system and is also comprised a man-machine interaction unit, and described man-machine interaction unit comprises follows the button of drive assist system and the telltale for showing current distance information and car speed information for allowing chaufeur open and close low speed.
3. automobile low speed according to claim 1 and 2 follows drive assist system, it is characterized in that, described signal processing unit comprises multiple comparator, and whether the distance that whether distance being respectively used to relatively this car and front truck is less than the parking threshold value of setting, whether the speed of a motor vehicle of this car is greater than zero, whether the speed of a motor vehicle of this car is greater than the maximum speed thresholding of setting, Ben Che and front truck is greater than the enabling gate limit value of setting.
4. automobile low speed follows a drive assist system decision-making technique, it is characterized in that, comprises the following steps:
S1, chaufeur open and close drive assist system by button;
S2, judge whether drive assist system starts, if do not start, closing automobile speed-slackening signal, closing automobile actuation signal, exits operation; Otherwise carry out next step;
Whether S3, the distance detecting this car and front truck are less than the parking threshold value (V) of setting, if then opening automobile speed-slackening signal, and closing automobile actuation signal, operation parking of automobile, and return step S2; Otherwise carry out next step;
Whether S4, the speed of a motor vehicle detecting this car are greater than zero, then carry out step S5 if not, if then carry out step S6;
Whether S5, the distance detecting this car and front truck are greater than the enabling gate limit value of setting, if then closing automobile speed-slackening signal, and opening automobile actuation signal, operation automobile front driving, and return step S2; Otherwise opening automobile speed-slackening signal, closing automobile actuation signal, operation parking of automobile, and return step S2;
Whether S6, the speed of a motor vehicle detecting this car are greater than the maximum speed thresholding of setting, if then opening automobile speed-slackening signal, and closing automobile actuation signal, operation car deceleration travels, and returns step S2; Otherwise closing automobile speed-slackening signal, opening automobile actuation signal, operation automobile front driving, and return step S2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510866645.8A CN105346542A (en) | 2015-12-01 | 2015-12-01 | Automobile low-speed following driving assistance system and decision making method of automobile low-speed following driving assistance system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510866645.8A CN105346542A (en) | 2015-12-01 | 2015-12-01 | Automobile low-speed following driving assistance system and decision making method of automobile low-speed following driving assistance system |
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| CN105346542A true CN105346542A (en) | 2016-02-24 |
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| CN201510866645.8A Pending CN105346542A (en) | 2015-12-01 | 2015-12-01 | Automobile low-speed following driving assistance system and decision making method of automobile low-speed following driving assistance system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017215288A1 (en) * | 2016-06-17 | 2017-12-21 | Boe Technology Group Co., Ltd. | Automatic drive control system and method, and vehicle |
| CN107608340A (en) * | 2016-07-11 | 2018-01-19 | 奥迪股份公司 | Vehicle drive assist system and its control method |
| CN109615064A (en) * | 2018-12-07 | 2019-04-12 | 电子科技大学 | A kind of end-to-end decision-making technique of intelligent vehicle based on space-time characteristic fusion recurrent neural network |
| CN110803164A (en) * | 2018-08-02 | 2020-02-18 | 长城汽车股份有限公司 | Vehicle distance control method and system of fleet and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109615064A (en) * | 2018-12-07 | 2019-04-12 | 电子科技大学 | A kind of end-to-end decision-making technique of intelligent vehicle based on space-time characteristic fusion recurrent neural network |
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Application publication date: 20160224 |