CN106080483B - Oversize vehicle turns to the working method of active safety system - Google Patents
Oversize vehicle turns to the working method of active safety system Download PDFInfo
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- CN106080483B CN106080483B CN201610625220.2A CN201610625220A CN106080483B CN 106080483 B CN106080483 B CN 106080483B CN 201610625220 A CN201610625220 A CN 201610625220A CN 106080483 B CN106080483 B CN 106080483B
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- vehicle
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- short braking
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
Abstract
The invention discloses the working methods that a kind of oversize vehicle turns to active safety system, include the following steps：Step 1, setting wheel speed sensors acquire the present speed of automobile；Step 2, setting system ECU obtain speed signal by CAN bus to anti-blocking brake system (ABS) or vehicle dynamic stability programming system (ESP)；Step 3, setting direction disk rotary angle transmitter acquire the current angular of steering wheel；Step 4, setting system ECU obtain the current angular of steering wheel by CAN bus to electric boosting steering system (EPS)；Step 5 calculates the most short braking distance of lateral direction of car and longitudinal most short braking distance according to the present speed of vehicle；The most short braking distance of step 6, lateral direction of car obtains the transverse safety distance between pedestrian or barrier and vehicle plus preset isolation distance.The configuration of the present invention is simple, easy to use, the generation to avoid traffic accident.
Description
Technical field
The present invention relates to a kind of system working methods, and the work of active safety system is turned to more particularly to a kind of oversize vehicle
Make method.
Background technology
The traffic accident for being related to high capacity waggon is much, in such accident, the light then damaged vehicle of accident both sides, and heavy then people
Member's injures and deaths.In the traffic accident for being related to motor vehicle, vehicle, which is turned right, occurs the probability of accident, significantly larger than turns left and straight
Row.It is easy to form mixed traffic with pedestrian and battery truck, bicycle etc. according to the principle kept to the right, when oversize vehicle is turned right,
Because the blind area of driver and other road participants lack the knowledge of vehicle lubrication groove difference, it is prone to accidents.It is being related to
In the accident of the large cars such as bulk cement carrier, many drivers may not even be aware that accident has occurred in vehicle.And display is subsequently investigated, much
All there is blind area in bulk cement carrier, and under the influence of lubrication groove difference, and the probability of accident occurs with regard to higher.Either large car
Or dilly, all exist lubrication groove difference and blind area.Use regarding for the large car of traditional rear-view mirror, especially truck
Feel that blind area is more much greater than average family car.
In general, blind area is divided into passive and active, and passive blind area one shares 10, is respectively distributed to headstock, the tailstock, A
Column both sides, B columns both sides, C columns both sides and left and right rearview mirror.
And oversize vehicle is more special because of body structure, the blind area of vision is more much more than the blind area of common family's sedan-chair.One
As for, the primary viewing range in large car car steering room be front the both sides region that about angle is 200 degree and vehicle on
The visual range at 60 degree or so of the side rear that three rearview mirrors are provided, carriage body product is larger after some large cars, so driver's cabin
Interior rearview mirror is to can't see rear situation completely, can only be observed completely by the traditional rear-view mirror on the outside of driver's cabin.
In addition, some are more than 10 meters of long semitrailers, headstock and vehicle body are separated, so when turning to, headstock
It is often not arranged on the same straight line with vehicle body, the angle of traditional rear-view mirror observation is deviateed, and the sight of side will be complete
It is blocked.Moreover, vehicle body is longer, the range of blind area is bigger.Through measuring and calculating, 20 meters of nearly 6 meters of semitrailer lubrication groove differences.
Also some yellow sand vehicle, high capacity waggons have highly been more than 3 meters, and such height driver looks over, and often can only
Higher object is seen, if pedestrian or vehicle are very easy to cause danger too close to this piece blind area.
Truck copilot station outdoors and right anterior angle be lorry driver eliminating driving blind area, the visual field of truck man can be divided
For half blind area and total blindness area, half blind area is 1.2 meters of left-hand door, 1.5 meters of right front, 1.2 meters of front；Total blindness area be vehicle just after
Side.
Invention content
Technical problem to be solved by the invention is to provide a kind of oversize vehicle turn to active safety system working method,
Its method is simple, easy to use, can be prompted driver when oversize vehicle is in unsafe condition, improves and drives
Member's is vigilant, can actively brake when oversize vehicle is in emergency, the generation to avoid traffic accident.
The present invention is to solve above-mentioned technical problem by following technical proposals：A kind of oversize vehicle steering active safety
The working method of system, which is characterized in that include the following steps：
Step 1, setting wheel speed sensors acquire the present speed of automobile；
Step 2, setting system ECU is by CAN bus to anti-blocking brake system (ABS) or vehicle dynamic stability journey
Sequence system (ESP) obtains speed signal；
Step 3, setting direction disk rotary angle transmitter acquire the current angular of steering wheel；
Step 4, setting system ECU obtain the current of steering wheel by CAN bus to electric boosting steering system (EPS)
Angle；
Step 5 calculates the most short braking distance of lateral direction of car and longitudinal most short braking according to the present speed of vehicle
Distance；
The most short braking distance of step 6, lateral direction of car obtains pedestrian or barrier and vehicle plus preset isolation distance
Between transverse safety distance；
The most short braking distance of step 7, longitudinal direction of car obtains pedestrian or barrier and vehicle plus preset isolation distance
Between longitudinal safe distance；
Step 8, judges whether the distance between current vehicle and its side barrier are less than or equal to longitudinal direction and the cross of vehicle
To safe distance；If longitudinal direction and laterally safety that the distance between current vehicle and its side barrier are less than or equal to vehicle
One in, then system ECU passes through anti-blocking brake system (ABS) or vehicle dynamic stability programming system (ESP) is controlled
Braking system processed slows down to vehicle, and controlling effective work light by instrument ECU lights；If current vehicle and its side
The distance between side barrier is more than longitudinal direction and the transverse safety distance of vehicle entirely, then system does not take action；
Step 9 back and forth carries out closed-loop control from step 1 to step 8.
Preferably, the step 8 uses pid control algorithm or fuzzy algorithmic approach.
The positive effect of the present invention is that：The configuration of the present invention is simple, it is easy to use, danger can be in oversize vehicle
Driver is prompted when dangerous situation, improves the vigilant of driver, it can be when oversize vehicle be in emergency
It waits and actively brakes, the generation to avoid traffic accident.
Description of the drawings
Fig. 1 is the flow chart for the working method that oversize vehicle of the present invention turns to active safety system.
Specific implementation mode
Present pre-ferred embodiments are provided below in conjunction with the accompanying drawings, with the technical solution that the present invention will be described in detail.
As shown in Figure 1, the invention discloses the working method that a kind of oversize vehicle turns to active safety system, mainly wrap
Include following steps：
Step 1, setting wheel speed sensors acquire the present speed of automobile；
Step 2, setting system ECU is by CAN bus to anti-blocking brake system (ABS) or vehicle dynamic stability journey
Sequence system (ESP) obtains speed signal；
Step 3, setting direction disk rotary angle transmitter acquire the current angular of steering wheel；
Step 4, setting system ECU obtain the current of steering wheel by CAN bus to electric boosting steering system (EPS)
Angle；
Step 5 calculates the most short braking distance of lateral direction of car and longitudinal most short braking according to the present speed of vehicle
Distance；
The most short braking distance of step 6, lateral direction of car obtains pedestrian or barrier and vehicle plus preset isolation distance
Between transverse safety distance；
The most short braking distance of step 7, longitudinal direction of car obtains pedestrian or barrier and vehicle plus preset isolation distance
Between longitudinal safe distance；
Step 8, judges whether the distance between current vehicle and its side barrier are less than or equal to longitudinal direction and the cross of vehicle
To safe distance；If longitudinal direction and laterally safety that the distance between current vehicle and its side barrier are less than or equal to vehicle
One in, then system ECU passes through anti-blocking brake system (ABS) or vehicle dynamic stability programming system (ESP) is controlled
Braking system processed slows down to vehicle, and controlling effective work light by instrument ECU lights；If current vehicle and its side
The distance between side barrier is more than longitudinal direction and the transverse safety distance of vehicle entirely, then system does not take action；
Step 9 back and forth carries out closed-loop control from step 1 to step 8.
The step 8 uses pid control algorithm or fuzzy algorithmic approach.
The range of the buffer distance of the preset vehicle and barrier is calculated according to speed and steering wheel angle
It obtains.Buffer distance is the lateral braking distance of vehicle.
The range of the isolation distance L of the preset vehicle and barrier is greater than 0.5 meter, is optimized for 1.5 meters.Isolation away from
From a distance on the basis of lateral direction of car braking distance, to reserve for the sake of assurance.
For example, when vehicle present speed be 20 kilometers/hour, according to speed and the calculated buffer distance of steering wheel angle
It is set as 0.5 meter, isolation distance is preset as 1 meter, then the transverse safety distance of barrier and vehicle is greater than 0.5 meter, optimal lateral
Safe distance is more than 1.5m.There are barrier, this active safety system to adopt if range sensor is measured in 1.5 meters lateral
Effective action is taken, the effective action indicator light first on Vehicular instrument panel can be lighted, according to real-time speed, steering wheel angle, vehicle
It calculates best speed in real time at a distance from barrier, is further implemented to brake according to the difference of best speed and real-time speed,
Make vehicle deceleration or parking.
Particular embodiments described above, the technical issues of to the solution of the present invention, technical solution and advantageous effect carry out
It is further described, it should be understood that the above is only a specific embodiment of the present invention, is not limited to
The present invention, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this
Within the protection domain of invention.
Claims (2)
1. a kind of oversize vehicle turns to the working method of active safety system, which is characterized in that include the following steps：
Step 1, setting wheel speed sensors acquire the present speed of automobile；
Step 2, setting system ECU are obtained by CAN bus to anti-blocking brake system or vehicle dynamic stability programming system
Speed signal；
Step 3, setting direction disk rotary angle transmitter acquire the current angular of steering wheel；
Step 4, setting system ECU obtain the current angular of steering wheel by CAN bus to electric boosting steering system；
Step 5 calculates most short braking distance and the longitudinal direction of lateral direction of car according to the present speed of vehicle and steering wheel angle
Most short braking distance；
The most short braking distance of step 6, lateral direction of car is obtained plus preset isolation distance between pedestrian or barrier and vehicle
Transverse safety distance；
The most short braking distance of step 7, longitudinal direction of car is obtained plus preset isolation distance between pedestrian or barrier and vehicle
Longitudinal safe distance；
Step 8 judges longitudinal direction and laterally peace that whether the distance between current vehicle and its side barrier are less than or equal to vehicle
Full distance；If the distance between current vehicle and its side barrier are less than or equal to longitudinal direction and the transverse safety distance of vehicle
In one, then system ECU braking system is controlled to vehicle by anti-blocking brake system or vehicle dynamic stability programming system
Slow down, controlling effective work light by instrument ECU lights；If between current vehicle and its side barrier
Distance is more than longitudinal direction and the transverse safety distance of vehicle entirely, then system does not take action；
Step 9 back and forth carries out closed-loop control from step 1 to step 8.
2. oversize vehicle according to claim 1 turns to the working method of active safety system, which is characterized in that the step
Rapid eight use pid control algorithm or fuzzy algorithmic approach.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610625220.2A CN106080483B (en) | 2016-07-30 | 2016-07-30 | Oversize vehicle turns to the working method of active safety system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610625220.2A CN106080483B (en) | 2016-07-30 | 2016-07-30 | Oversize vehicle turns to the working method of active safety system |
Publications (2)
| Publication Number | Publication Date |
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| CN106080483A CN106080483A (en) | 2016-11-09 |
| CN106080483B true CN106080483B (en) | 2018-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610625220.2A Active CN106080483B (en) | 2016-07-30 | 2016-07-30 | Oversize vehicle turns to the working method of active safety system |
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Families Citing this family (1)
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| CN111959502B (en) * | 2020-07-16 | 2021-12-17 | 山东大学 | Intelligent networking vehicle obstacle avoidance method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2943775B2 (en) * | 1997-07-01 | 1999-08-30 | 日本電気株式会社 | Contact accident prevention support device |
| JP2003072495A (en) * | 2001-09-06 | 2003-03-12 | Yazaki Corp | Parking support device and parking support method |
| JP3642314B2 (en) * | 2001-12-11 | 2005-04-27 | 日産自動車株式会社 | Brake control device for vehicle |
| JP5916444B2 (en) * | 2012-03-08 | 2016-05-11 | 日立建機株式会社 | Mining vehicle |
| JP5870985B2 (en) * | 2013-10-23 | 2016-03-01 | トヨタ自動車株式会社 | Driving assistance device |
| KR102209794B1 (en) * | 2014-07-16 | 2021-01-29 | 주식회사 만도 | Emergency braking system for preventing pedestrain and emergency braking conrol method of thereof |
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