CN105667496A - Automobile sky way anti-falling control method - Google Patents

Abstract

The invention discloses an automobile sky way anti-falling control method. The method includes the following steps that firstly, travel information is obtained according to an automobile-mounted sensing system and comprises the automobile speed Vr, the acceleration ar and the front wheel turning angle alpha, and the distance between an automobile and the boundary of a sky way is measured; secondly, according to the information obtained from the first step, an automobile sky way anti-falling model equation is established; thirdly, the automobile sky way anti-falling model equation is solved and calculated, so that the anti-falling early warning distance Dw and the steering delay braking distance Ds are obtained; fourthly, the distance Lrelative between the automobile and the edge of a front right cliff is compared with the corresponding anti-falling early warning distance Dw and the corresponding steering delay braking distance Ds, an adopted anti-falling mode is judged; and fifthly, after the unit time interval, data are measured again, and the first step to the fourth step are repeated. By the adoption of the method, boundary information of the sky way is detected in real time, and the automobile sky way anti-falling model equation is dynamically established through the obtained data, so that an established model is pertinent, and the anti-falling success rate is remarkably increased.

Description

A kind of anti-fall control method of automobile sky way

Technical field

The present invention relates to a kind of anti-fall control method of automobile sky way, belong to driving safety technical field.

Background technology

Flourish along with automobile industry, automobile is applied in every field, and wherein sky way passenger and freight automobile is one of important branch. But it is higher much than the vehicle hazard coefficient on common road at sky way, and pendant precipice hour of danger exists: about during 2 days 23 March in 2015, there is especially big vehicle accident in Five Dragons town, Henan Linzhou City little Tiger Mountain sky way, vehicle accident is there is in one bus leaving for Linzhou City from Henan Xinxiang City at two city's intersections (provincial highway S226 highway 45+800 rice), fall lower hundred meters of deep precipices, causing 20 people dead, 13 is injured. So painful example is too numerous to enumerate, and therefore the precipice danger of sky way pendant is the current important topic continuing and breaking through.

Summary of the invention

In order to solve the problems referred to above, the present invention proposes a kind of anti-fall control method of automobile sky way, according to automobile mounted sensor-based system, it is thus achieved that real-time exogenous data and from car running information, by setting up the anti-fall model equation of sky way, it is possible to improve the safety coefficient that automobile travels on sky way. Realize technical scheme as follows:

A kind of anti-fall control method of automobile sky way, comprises the steps:

Step 1: obtain running information according to vehicle-mounted sensor-based system, measures the distance of vehicle and sky way border;

Step 2: the information according to step 1, sets up the anti-fall model equation of automobile sky way;

Step 3: the built anti-fall model equation of automobile sky way is solved calculating, obtains anti-fall early warning distance D_wAnd turn-around delay braking distance D_s;

Step 4: by the distance L of automobile Yu cliff edge, right front_relativeWith corresponding anti-fall early warning distance D_wAnd turn-around delay braking distance D_sCompare, it is determined that anti-fall mode to be taken;

Step 5: behind unit interval, again measurement data, repeat the above steps 1-4.

It is preferred that scheme, the method that realizes of step 1 includes: by vehicle-mounted sensor-based system collection from car vehicle velocity V_r, acceleration a_r, and front wheel angle α;The distance L at millimetre-wave radar, real time scan automobile and cliff edge, right front is installed by car light place, Automobile Right front_relative。

It is preferred that scheme, the model equation described in step 2 is:

$D_w=\frac{V_r}{2a_r}+V_r(T_{reflect}+T_{M\·response})+K_{\mathrm{\α}}+D_0$

$D_S=\frac{V_r}{2a_r}+V_r{T}_{M\·response}+K_{\mathrm{\α}}+D_0$

Wherein, D_wRepresent anti-fall early warning distance; D_sRepresent turn-around delay braking distance; D₀After representing that speed eliminates, it is still to the distance kept from car and sky way edge; V_rRepresent from car speed; a_rRepresent from car acceleration; T_reflectRepresenting time of driver's reaction, namely driver finds front vehicles and takes braking maneuver, steps on the time of brake pedal to foot; T_M·responseRepresent car brake system response and braking time; K_α: front wheel angle correction factor, reacts the relation of current front wheel angle α and straight braking distance.

It is preferred that scheme, described front wheel angle adjusted coefficient K_aSpecific formula for calculation be:L in formula_⊥For the straight braking distance under current front wheel angle.

It is preferred that scheme, described D₀Peek value is 1-3 rice; Described T_reflectPeek value is the 0.3-1 second; T_M·responsePeek value is 0.3 second.

It is preferred that scheme, implementing of step 4 includes following situation:

L_relative≥D_wTime, system is without control action;

D_w≥L_relative≥D_sTime, driver is carried out anti-fall early warning, driver's brakeless action after early warning;

L_relative≤D_sTime, then control steering emergency turn and postpone braking.

It is preferred that scheme, described emergency turn the process that implements postponing to brake include:

1. steering reads automobile current state parameter by vehicle-mounted sensor-based system or bus, including turning angle of steering wheel θ, current front wheel angle α and vehicle velocity V_r;

2. by torque measurement T_dAnd vehicle velocity V_r, it is input to power steering curve and obtains with reference to power-assisted electric current I_ref;

The turning angle of steering wheel θ that will measure, is input in ECU and obtains back positive currentWherein I_returnFor returning positive current, I_eqFor Equivalent control law, θ obtain, J₀For rotating the rotary inertia of axle, N₁For the gear ratio of motor to steering spindle,For the steer coefficient of motor, sgn (s) is sign function;

Current of electric I=I is obtained with returning positive current by reference current_ref+I_return, driven by motor steering mechanism realize turning to of automobile;

3. after completing to turn to, keep steering angle to postpone the 0.5-1 second, implement forced brake by electric brake system, complete the delay braking of sky way.

It is preferred that scheme, 0.2 second, unit interval value described in step 5.

Beneficial effects of the present invention:

(1) method that the present invention proposes is by detecting the boundary information of sky way in real time, and dynamically sets up the anti-fall model equation of automobile sky way by the data obtained, makes institute's established model pointed.

(2) control method that the present invention proposes, provides for system and improves anti-fall turn-around delay brake control method, ensure that anti-fall success rate to a greater extent, have good safety.

(3) the present invention is directed to practical problem and propose solution, there is good practicality.

Accompanying drawing explanation

Fig. 1 is the method flow diagram of the present invention;

Fig. 2 is the anti-fall effect schematic diagram of sky way of the present invention;

Fig. 3 is the turn-around delay brake control method structure chart of the present invention;

Fig. 4 is the turning control cell block diagram of the present invention

Fig. 5 is the power steering curve chart of the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in further detail.

The present invention provides the flow chart of a kind of anti-fall control method of automobile sky way as it is shown in figure 1, include step:

Step 1: the running information obtained according to vehicle-mounted sensor-based system, measures sky way frontier distance.

As in figure 2 it is shown, millimetre-wave radar is installed at car light place, Automobile Right front, for the distance L of real time scan automobile Yu cliff edge, right front_relative, vehicle-mounted sensor-based system collection is from car vehicle velocity V_r, acceleration a_r, front wheel angle α, and be transferred in controlled vehicle-mounted electrical unit ECU.

Step 2: according to the anti-fall model equation of automobile sky way:

$D_w=\frac{V_r}{2a_r}+V_r(T_{reflect}+T_{M\·response})+K_{\mathrm{\α}}+D_0---\left(1\right)$

$D_S=\frac{V_r}{2a_r}+V_r{T}_{M\·response}+K_{\mathrm{\α}}+D_0---\left(2\right)$

Wherein:

D_w: anti-fall early warning distance, if namely two spacings with D_w、D_sBetween should report to the police.

D_s: turn-around delay braking distance, if namely two spacings are less than D_sShould turn to, for urgent anti-fall boundary value.

D₀: after representing that speed eliminates, being still to the distance kept from car and sky way edge, generally choosing numerical value is 1-3 rice.

T_reflect: time of driver's reaction, driver finds front vehicles and takes braking maneuver, steps on the time of brake pedal to foot, and generally choosing numerical value is the 0.3-1 second.

T_M·response: car brake system response and braking time, generally choosing numerical value is 0.3 second.

K_α: front wheel angle correction factor, reacts the relation of current front wheel angle and straight braking distance. Specific formula for calculation isL in formula_⊥For the straight braking distance under current front wheel steering angle.

Step 3: the built anti-fall model equation of automobile sky way is solved calculating, obtains anti-fall early warning distance and turn-around delay braking distance.

By solving model equation (1), it is thus achieved that automobile emergency anti-fall early warning distance D during moment T_w; By solving model equation (2), it is thus achieved that automobile emergency anti-fall turn-around delay braking distance D during moment T_s。

Step 4: by the distance L of automobile Yu cliff edge, right front_relativeCompare with corresponding anti-fall early warning distance and turn-around delay braking distance, it is determined that anti-fall mode to be taken.

As in figure 2 it is shown, compare when automobile travels along sky way, the distance L at the automobile of measurement and cliff edge, right front_relative≥D_wTime, system is without control action; If D_w≥L_relative≥D_sTime, driver is carried out anti-fall early warning; Driver's brakeless action after early warning, if L_relative≤D_sTime, then system controls steering emergency turn and postpones braking.

After the step 5:0.2 second, measurement data again, repeat the above steps 1-4.

For the L in above-mentioned steps 4_relative≤D_sTime, then system controls steering emergency turn and postpones braking, and the present invention proposes concrete turn-around delay brake control method, as it is shown on figure 3, comprise the steps:

1. steering reads automobile current state parameter by vehicle-mounted sensor-based system or bus, including the turning angle of steering wheel θ under steering wheel instruction effect, current front wheel angle α and vehicle velocity V_r;

2. such as Fig. 4, direction dribbling torque sensor measure measured torque and vehicle velocity V_r, it is input to power steering curve, as shown in Figure 5, it is thus achieved that reference current I_ref; The turning angle of steering wheel θ that dribbling torque sensor in direction is measured, the rotary transform tensor part being input in ECU obtains back positive current:

$I_{return}=I_{eq}-\frac{J_0\mathrm{\κ}}{N_1{K}_{\∂}}\mathrm{sgn}\left(s\right),\mathrm{\κ}>0---\left(3\right)$

Wherein, I_returnFor returning positive current, I_eqFor Equivalent control law, θ obtain, J₀For rotating the rotary inertia of axle, N₁For the gear ratio of motor to steering spindle,For the steer coefficient of motor, sgn (s) is sign function;

Current of electric I=I is obtained with returning positive current by reference current_ref+I_return, driven by motor steering mechanism realize turning to of automobile.

3. keep steering angle to postpone the 0.5-1 second after completing to turn to, implement forced brake by electronic pedal brakes, complete the braking of sky way turn-around delay.

The effect of the method is as in figure 2 it is shown, there is the vehicle 2 of this sky way anti-drop system will adjust driving states timely, it is to avoid the danger on pendant precipice;Do not have this this anti-drop system of sky way vehicle 1 will because not adjusting driving states in time, thus create pendant precipice danger.

Above are only the explanation of technical solution of the present invention and specific embodiment, the protection domain being not intended to limit the present invention, under the premise without prejudice to flesh and blood of the present invention and principle, changed, retouching etc. is all within protection domain.

Claims (8)

1. the anti-fall control method of automobile sky way, it is characterised in that comprise the steps:

Step 1: obtain running information according to vehicle-mounted sensor-based system, measures the distance of vehicle and sky way border;

Step 2: the information according to step 1, sets up the anti-fall model equation of automobile sky way;

Step 3: the built anti-fall model equation of automobile sky way is solved calculating, obtains anti-fall early warning distance D_wAnd turn-around delay braking distance D_s;

Step 4: by the distance L of automobile Yu cliff edge, right front_relativeWith corresponding anti-fall early warning distance D_wAnd turn-around delay braking distance D_sCompare, it is determined that anti-fall mode to be taken;

Step 5: behind unit interval, again measurement data, repeat the above steps 1-4.

2. a kind of anti-fall control method of automobile sky way according to claim 1, it is characterised in that the method that realizes of step 1 includes: by vehicle-mounted sensor-based system collection from car vehicle velocity V_r, acceleration a_r, and front wheel angle α; The distance L at millimetre-wave radar, real time scan automobile and cliff edge, right front is installed by car light place, Automobile Right front_relative。

3. a kind of anti-fall control method of automobile sky way according to claim 1, it is characterised in that the model equation described in step 2 is:

$D_w=\frac{V_r}{2a_r}+V_r(T_{reflect}+T_{M\·response})+K_{\mathrm{\α}}+D_0$

$D_S=\frac{V_r}{2a_r}+V_r{T}_{M\·response}+K_{\mathrm{\α}}+D_0$

Wherein, D_wRepresent anti-fall early warning distance; D_sRepresent turn-around delay braking distance; D₀After representing that speed eliminates, it is still to the distance kept from car and sky way edge; V_rRepresent from car speed; a_rRepresent from car acceleration; T_reflectRepresenting time of driver's reaction, namely driver finds front vehicles and takes braking maneuver, steps on the time of brake pedal to foot; T_M·responseRepresent car brake system response and braking time; K_α: front wheel angle correction factor, reacts the relation of current front wheel angle α and straight braking distance.

4. a kind of anti-fall control method of automobile sky way according to claim 3, it is characterised in that described front wheel angle adjusted coefficient K_αSpecific formula for calculation be:L in formula_⊥For the straight braking distance under current front wheel angle.

5. a kind of anti-fall control method of automobile sky way according to claim 3, it is characterised in that described D₀Peek value is 1-3 rice; Described T_reflectPeek value is the 0.3-1 second; T_M·responsePeek value is 0.3 second.

6. a kind of anti-fall control method of automobile sky way according to claim 1, it is characterised in that implementing of step 4 includes following situation:

L_relative≥D_wTime, system is without control action;

D_w≥L_relative≥D_sTime, driver is carried out anti-fall early warning, driver's brakeless action after early warning;

L_relative≤D_sTime, then system controls steering emergency turn and postpones braking.

7. a kind of anti-fall control method of automobile sky way according to claim 6, it is characterised in that described emergency turn the process that implements postponing to brake include:

1. steering reads automobile current state parameter by vehicle-mounted sensor-based system or bus, including turning angle of steering wheel θ, current front wheel angle α and vehicle velocity V_r;

2. by torque measurement T_dAnd vehicle velocity V_r, it is input to power steering curve and obtains with reference to power-assisted electric current I_ref;

The turning angle of steering wheel θ that will measure, is input in ECU and obtains back positive currentWherein I_returnFor returning positive current, I_eqFor Equivalent control law, θ obtain, J₀For rotating the rotary inertia of axle, N₁For the gear ratio of motor to steering spindle,For the steer coefficient of motor, sgn (s) is sign function;

Current of electric I=I is obtained with returning positive current by reference current_ref+I_return, driven by motor steering mechanism realize turning to of automobile;

3. after completing to turn to, keep steering angle to postpone the 0.5-1 second, implement forced brake by electric brake system, complete the delay braking of sky way.

8. a kind of anti-fall control method of automobile sky way according to claim 1, it is characterised in that 0.2 second, unit interval value described in step 5.