CN105667496B - A kind of anti-fall control method of automobile sky way - Google Patents

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

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Publication number
CN105667496B
CN105667496B CN201610147632.XA CN201610147632A CN105667496B CN 105667496 B CN105667496 B CN 105667496B CN 201610147632 A CN201610147632 A CN 201610147632A CN 105667496 B CN105667496 B CN 105667496B
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fall
automobile
distance
sky way
control method
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CN105667496A (en
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袁朝春
王潍
张龙飞
朱畏畏
陈栋
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Jiangsu University
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Jiangsu University
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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
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—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
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits

Abstract

The invention discloses a kind of anti-fall control method of automobile sky way, include the following steps：Step 1:Running information is obtained according to vehicle-mounted sensor-based system, including from car vehicle velocity Vr, acceleration ar, and front wheel angle α, measurement vehicle and the distance on sky way border；Step 2:According to the information of step 1, the anti-fall model equation of automobile sky way is established；Step 3：Solution calculating is carried out to the built anti-fall model equation of automobile sky way, obtains anti-fall early warning distance DwAnd turn-around delay braking distance Ds；Step 4：By automobile and the distance L at right front cliff edgerelativeWith corresponding anti-fall early warning distance DwAnd turn-around delay braking distance DsIt is compared, judges the anti-fall mode to be taken；Step 5：Behind unit interval, measurement data again repeats the above steps 14.The method of the present invention establishes the anti-fall model equation of automobile sky way by detecting the boundary information of sky way in real time by the data obtained dynamic, institute's established model is had specific aim, significantly improves anti-fall success rate.

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
With flourishing for automobile industry, automobile is applied in every field, wherein winding highway passenger transportation and shipping Automobile is one of important branch.But it is high more a lot of than the vehicle hazard coefficient on common road in sky way, and fall precipice Hour of danger exists：About during 2 days 23 March in 2015, especially big traffic together occurs for the small Tiger Mountain sky way in Henan Linzhou City Five Dragons town Accident, a bus that Linzhou City is left for from Henan Xinxiang City occur in two city's intersections (45+800 meters of provincial highway S226 highways) Traffic accident, falls lower hundred meters of deep precipices, causes 20 people dead, 13 is injured.So painful example is too numerous to enumerate, therefore sky way Pendant precipice danger is an important topic for continuing to break through now.
The content of the invention
To solve the above-mentioned problems, the present invention proposes a kind of anti-fall control method of automobile sky way, according to automobile mounted Sensor-based system, obtains real-time exogenous data and from car running information, by establishing the anti-fall model equation of sky way, Ke Yiti The safety coefficient that high automobile travels on sky way.Realize that technical scheme is as follows：
A kind of anti-fall control method of automobile sky way, includes the following steps：
Step 1:Running information, measurement vehicle and the distance on sky way border are obtained according to vehicle-mounted sensor-based system；
Step 2:According to the information of step 1, the anti-fall model equation of automobile sky way is established；
Step 3：Solution calculating is carried out to the built anti-fall model equation of automobile sky way, obtains anti-fall early warning distance DwAnd Turn-around delay braking distance Ds；
Step 4：By automobile and the distance L at right front cliff edgerelativeWith corresponding anti-fall early warning distance DwAnd turn to Postpone braking distance DsIt is compared, judges the anti-fall mode to be taken；
Step 5：Behind unit interval, measurement data again, repeat the above steps 1-4.
Further preferred scheme, the implementation method of step 1 include：Gathered by vehicle-mounted sensor-based system from car vehicle velocity Vr, add Speed ar, and front wheel angle α；By installing millimetre-wave radar, real time scan automobile and right front at car light in front of Automobile Right The distance L at cliff edgerelative。
Further preferred scheme, the model equation described in step 2 are：
Wherein, DwRepresent anti-fall early warning distance；DsRepresent turn-around delay braking distance；D0Represent speed eliminate after, from car with Sky way edge is still to the distance kept；VrRepresent from car speed；arRepresent from car acceleration；TreflectRepresent that driver is anti- Between seasonable, i.e., driver has found front vehicles and takes braking maneuver, and the time of brake pedal is stepped on to foot；TM·responseRepresent Car brake system response and braking time；Kα：Front wheel angle correction factor, reacts current front wheel angle α and straight braking distance Relation.
Further preferred scheme, the front wheel angle adjusted coefficient KαSpecific formula for calculation be：Formula Middle L⊥For the straight braking distance under current front wheel angle.
Further preferred scheme, the D0Access value is 1-3 meters；The TreflectAccess value is 0.3-1 seconds；TM·response Access value is 0.3 second.
Further preferred scheme, the specific implementation of step 4 include following situation：
Lrelative＞ DwWhen, system is without control action；
Dw＞ Lrelative＞ DsWhen, anti-fall early warning is carried out to driver, driver's brakeless acts after early warning；
Lrelative＜ DsWhen, then control steering emergency turn and postpone to brake.
Further preferred scheme, the emergency turn and the specific implementation process for postponing to brake include：
1. steering reads automobile current state parameter, including turning angle of steering wheel by vehicle-mounted sensor-based system or bus θ, current front wheel angle α and vehicle velocity Vr；
2. by torque measurement TdAnd vehicle velocity Vr, it is input to power steering curve and obtains reference current Iref；
By the turning angle of steering wheel θ of measurement, it is input in ECU and obtains back positive current Wherein IreturnTo return positive current, IeqFor Equivalent control law, obtained by θ, J0For the rotary inertia of rotation axis, N1For motor to turn To the gearratio of axis,For the steer coefficient of motor, sgn (s) is sign function；
By reference current current of electric I=I is obtained with returning positive currentref+Ireturn, drive steering mechanism to realize automobile by motor Steering；
3. completing after turning to, keep steering angle to postpone 0.5-1 seconds, forced brake is implemented by electric brake system, it is complete Delay into sky way is braked.
Further preferred scheme, unit interval value described in step 5 0.2 second.
Beneficial effects of the present invention：
(1) method proposed by the present invention by detecting the boundary information of sky way in real time, and passes through the data obtained dynamic The anti-fall model equation of automobile sky way is established, makes institute's established model that there is specific aim.
(2) control method proposed by the present invention, provides for system and improves anti-fall turn-around delay brake control method, bigger journey It ensure that anti-fall success rate on degree, there is preferable security.
(3) present invention proposes solution for practical problem, has preferable practicality.
Brief description of the drawings
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is the anti-fall effect 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 map of the present invention.
Embodiment
Below in conjunction with attached drawing, the present invention is described in further detail.
The present invention provides a kind of flow chart of the anti-fall control method of automobile sky way as shown in Figure 1, including step：
Step 1:The running information obtained according to vehicle-mounted sensor-based system, measures sky way frontier distance.
As shown in Fig. 2, millimetre-wave radar is installed, for real time scan automobile and right front cliff in front of Automobile Right at car light The distance L at edgerelative, the collection of vehicle-mounted sensor-based system is from car vehicle velocity Vr, acceleration ar, front wheel angle α, and it is transferred to vehicle mounted electric Control in unit ECU.
Step 2:According to the anti-fall model equation of automobile sky way：
Wherein：
Dw:Anti-fall early warning distance, if i.e. two cars distance with Dw、DsBetween should alarm.
Ds:Turn-around delay braking distance, if i.e. two cars distance is less than DsIt should turn to, for urgent anti-fall boundary value.
D0：After representing that speed eliminates, the distance of holding is still to from car and sky way edge, general numerical value of choosing is 1-3 Rice.
Treflect:Time of driver's reaction, driver has found front vehicles and takes braking maneuver, and stepping on braking to foot steps on The time of plate, general numerical value of choosing is 0.3-1 seconds.
TM·response:Car brake system response and braking time, general numerical value of choosing is 0.3 second.
Kα：Front wheel angle correction factor, reacts the relation of current front wheel angle and straight braking distance.Specific formula for calculation ForL in formula⊥For the straight braking distance under current front wheel steering angle.
Step 3：Solution calculating is carried out to the built anti-fall model equation of automobile sky way, anti-fall early warning distance is obtained and turns To delay braking distance.
By solving model equation (1), automobile emergency anti-fall early warning distance D when obtaining moment Tw；By solving model side Journey (2), automobile emergency anti-fall turn-around delay braking distance D when obtaining moment Ts。
Step 4：By automobile and the distance L at right front cliff edgerelativeProlong with corresponding anti-fall early warning distance and steering Slow braking distance is compared, and judges the anti-fall mode to be taken.
As shown in Fig. 2, compare when automobile along sky way when driving, the automobile of measurement and the distance at right front cliff edge Lrelative＞ DwWhen, system is without control action；If Dw＞ Lrelative＞ DsWhen, anti-fall early warning is carried out to driver；Driven after early warning The person's of sailing brakeless acts, if Lrelative＜ DsWhen, then system controls steering emergency turn and postpones to brake.
Step 5：After 0.2 second, measurement data again, repeat the above steps 1-4.
For the L in above-mentioned steps 4relative＜ DsWhen, then system controls steering emergency turn and postpones to brake, this Invention proposes specific turn-around delay brake control method, as shown in figure 3, including the following steps：
1. steering reads automobile current state parameter by vehicle-mounted sensor-based system or bus, including steering wheel instruction is made Turning angle of steering wheel θ, current front wheel angle α and vehicle velocity V underr；
2. such as Fig. 4, the measured torque and vehicle velocity V that steering wheel is measured with torque sensorr, it is input to power steering song Line, as shown in figure 5, obtaining reference current Iref；The turning angle of steering wheel θ that steering wheel is measured with torque sensor, is input to ECU In rotary transform tensor part obtain back positive current：
Wherein, IreturnTo return positive current, IeqFor Equivalent control law, obtained by θ, J0For the rotary inertia of rotation axis, N1For Motor is to the gearratio of steering spindle, KθFor the steer coefficient of motor, sgn (s) is sign function；
By reference current current of electric I=I is obtained with returning positive currentref+Ireturn, drive steering mechanism to realize automobile by motor Steering.
3. completing to keep steering angle to postpone 0.5-1 seconds after turning to, forced brake is implemented by electronic pedal braking system, Complete the braking of sky way turn-around delay.
The effect of this method is as shown in Fig. 2, the vehicle 2 for having this sky way anti-drop system will timely adjust driving shape State, avoids the danger on pendant precipice；Will be because of no driving shape of adjustment in time without the vehicle 1 of this sky way this anti-drop system State, so as to generate the danger on pendant precipice.
The explanation of technical solution of the present invention and specific embodiment is above are only, the protection model being not intended to limit the present invention Enclose, on the premise of without prejudice to substantive content of the present invention and principle, change, retouch etc. all within protection domain.

Claims (7)

1. a kind of anti-fall control method of automobile sky way, it is characterised in that include the following steps：
Step 1:Running information, measurement vehicle and the distance on sky way border are obtained according to vehicle-mounted sensor-based system；
Step 2:According to the information of step 1, the anti-fall model equation of automobile sky way is established；The model equation is：
Wherein, DwRepresent anti-fall early warning distance；DsRepresent turn-around delay braking distance；D0Represent speed eliminate after, from car with it is winding Highway edge is still to the distance kept；VrRepresent from car speed；arRepresent from car acceleration；TreflectWhen representing driver's reaction Between, i.e., driver has found front vehicles and takes braking maneuver, and the time of brake pedal is stepped on to foot；TM·responseThe car system of expression Dynamic system response and braking time；Kα：Front wheel angle correction factor, reacts the pass of current front wheel angle α and straight braking distance System；
Step 3：Solution calculating is carried out to the built anti-fall model equation of automobile sky way, obtains anti-fall early warning distance DwAnd turn to Postpone braking distance Ds；
Step 4：By automobile and the distance L at right front cliff edgerelativeWith corresponding anti-fall early warning distance DwAnd turn-around delay Braking distance DsIt is compared, judges the anti-fall mode to be taken；
Step 5：Behind unit interval, measurement data again, repeat the above steps 1-4.
A kind of 2. anti-fall control method of automobile sky way according to claim 1, it is characterised in that the realization of step 1 Method includes：Gathered by vehicle-mounted sensor-based system from car vehicle velocity Vr, acceleration ar, and front wheel angle α；By in front of Automobile Right Millimetre-wave radar, the distance L of real time scan automobile and right front cliff edge are installed at car lightrelative。
A kind of 3. anti-fall control method of automobile sky way according to claim 1, it is characterised in that the front wheel angle Adjusted coefficient KαSpecific formula for calculation be：L in formula⊥For the straight braking under current front wheel angle away from From.
A kind of 4. anti-fall control method of automobile sky way according to claim 1, it is characterised in that the D0Access value For 1-3 meters；The TreflectAccess value is 0.3-1 seconds；TM·responseAccess value is 0.3 second.
A kind of 5. anti-fall control method of automobile sky way according to claim 1, it is characterised in that step 4 it is specific Realization includes following situation：
Lrelative＞ DwWhen, system is without control action；
Dw＞ Lrelative＞ DsWhen, anti-fall early warning is carried out to driver, driver's brakeless acts after early warning；
Lrelative＜ DsWhen, then system controls steering emergency turn and postpones to brake.
A kind of 6. anti-fall control method of automobile sky way according to claim 5, it is characterised in that the emergency turn And the specific implementation process for postponing braking includes：
1. steering reads automobile current state parameter by vehicle-mounted sensor-based system or bus, including turning angle of steering wheel θ, when Preceding front wheel angle α and vehicle velocity Vr；
2. by torque measurement TdAnd vehicle velocity Vr, it is input to power steering curve and obtains reference current Iref；
By the turning angle of steering wheel θ of measurement, it is input in ECU and obtains back positive currentIts Middle IreturnTo return positive current, IeqFor Equivalent control law, obtained by θ, J0For the rotary inertia of rotation axis, N1For motor to steering The gearratio of axis,For the steer coefficient of motor, sgn (s) is sign function；
By reference current current of electric I=I is obtained with returning positive currentref+Ireturn, drive steering mechanism to realize turning for automobile by motor To；
3. completing after turning to, keep steering angle to postpone 0.5-1 seconds, forced brake is implemented by electric brake system, completes disk The delay braking of mountain highway.
7. a kind of anti-fall control method of automobile sky way according to claim 1, it is characterised in that described in step 5 Unit interval value 0.2 second.
CN201610147632.XA 2016-03-15 2016-03-15 A kind of anti-fall control method of automobile sky way Active CN105667496B (en)

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CN111323042B (en) * 2020-02-20 2023-10-10 华为技术有限公司 Target object early warning method and device and electronic equipment
US20220101022A1 (en) * 2020-09-29 2022-03-31 Rivian Ip Holdings, Llc Vehicle cliff and crevasse detection systems and methods

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CN1616283A (en) * 2003-11-14 2005-05-18 日产自动车株式会社 Lane departure prevention apparatus
CN101596903A (en) * 2009-07-07 2009-12-09 清华大学 Transverse driving of multipurpose automobile householder method and ancillary system thereof
CN102514572A (en) * 2012-01-17 2012-06-27 湖南大学 Lane departure early warning method
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