CN106114422B - Independently with car system and its control method of minimum safe following distance - Google Patents
Independently with car system and its control method of minimum safe following distance Download PDFInfo
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- CN106114422B CN106114422B CN201610626054.8A CN201610626054A CN106114422B CN 106114422 B CN106114422 B CN 106114422B CN 201610626054 A CN201610626054 A CN 201610626054A CN 106114422 B CN106114422 B CN 106114422B
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- 238000000034 method Methods 0.000 title claims description 19
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 20
- 230000004888 barrier function Effects 0.000 claims description 9
- 230000004044 response Effects 0.000 claims description 6
- 238000011897 real-time detection Methods 0.000 claims description 5
- 230000004308 accommodation Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 238000007664 blowing Methods 0.000 claims description 2
- 238000011156 evaluation Methods 0.000 claims description 2
- 230000007812 deficiency Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000004364 calculation method Methods 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 1
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- 238000013459 approach Methods 0.000 description 1
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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
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- 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
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W30/162—Speed limiting therefor
-
- 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
- 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
-
- 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
-
- 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
- B60W2554/804—Relative 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
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- Regulating Braking Force (AREA)
Abstract
Present invention is disclosed a kind of autonomous with car system, system is provided with the front anticollision millimetre-wave radar installed in vehicle front, the front anticollision millimetre-wave radar outputs signal to main control unit through CAN, the main control unit output alarm signal is to warning reminding unit, the main control unit exports brake signal to brake-by-wire unit, the front anticollision millimetre-wave radar both sides are respectively provided with a ultrasonic radar, the ultrasonic radar outputs signal to ultrasonic radar control unit, the ultrasonic radar control unit outputs signal to main control unit through CAN.The advantage of the invention is that the present invention combines inexpensive ultrasonic radar carries out accurate measurement to the relative distance of close-in target, millimetre-wave radar closely range error deficiency bigger than normal is compensate for.
Description
Technical field
The present invention relates to intelligent vehicle technical field, and in particular to a kind of intelligent vehicle is autonomous with car system and its minimum safe distance
From control method.
Background technology
With the demand that is driven to Vehicular intelligent with user of continuing to develop of Vehicular intelligent technology, the advanced auxiliary of vehicle is driven
Sail and intelligent vehicle will be popularized quickly in future, the daily life for giving people brings many facilities.Wherein independently with car
System can partly substitute people and vehicle is controlled under high-speed working condition or city operating mode.Current adaptive cruise control
System (Adaptive Cruise Control, ACC) processed can be realized independently with car control, using 77GHz millimetre-wave radars pair
Objects ahead carries out real-time detection.Warning reminding and brake regulation are carried out when occurring dangerous.Radar detection precision only has ± 0.5
Rice, it is impossible to realize closely accurately detecting, the early warning distance and brake regulation distance of the model estimation for using at present in addition is universal
Error is larger, it is impossible to carries out accurate estimation in real time according to driver, vehicle braking performances and traveling road conditions, causes safe distance
The too small risk for colliding increases or safe distance is excessive reduces road travel efficiency.
The content of the invention
The technical problems to be solved by the invention are to realize that one kind reduces with following distance and is able to ensure that driving peace as far as possible
Full system.
To achieve these goals, the technical solution adopted by the present invention is：Independently with car system, system is provided with installed in car
The front anticollision millimetre-wave radar in front, the front anticollision millimetre-wave radar outputs signal to main control list through CAN
Unit, the main control unit output alarm signal to warning reminding unit, the main control unit exports brake signal to line traffic control
Brake unit, the front anticollision millimetre-wave radar both sides are respectively provided with a ultrasonic radar, the ultrasonic radar output
Signal to ultrasonic radar control unit, the ultrasonic radar control unit outputs signal to main control unit through CAN.
Vehicle front is provided with vehicle forward sight camera, and the vehicle forward sight camera outputs signal to master control through CAN
Unit processed.
Rear view of vehicle is provided with car detection radar, described to detect rear view of vehicle information with car detection radar and output signal to
Main control unit, the main control unit outputs control signals to the display reminding unit of rear view of vehicle.
Vehicle both sides are provided with lateral detection radar, and the lateral detection radar simultaneously outputs signal to main control unit, described
Main control unit outputs control signals to direction controlling unit.
Control method based on the autonomous minimum safe following distance with car system：
1) system electrification；
2) fault self-checking；
3) fault alarm is carried out if it there is failure, and closes system, system starts if in the absence of failure；
4) real-time detection front truck state, by millimetre-wave radar sensor, ultrasonic radar sensor and visually-perceptible system
System is detected and recognized to front vehicles, if front truck slows down, performs step 5), otherwise continue to carry out front vehicles in real time
Detection；
5) estimation early warning distance Dw, then judge, if whether measured distance D is more than or equal to Dw, then step is repeated
5)；
6) anti-collision warning, while estimating brake regulation apart from Dz, then judge, if whether measured distance D is more than or equal to
Dz, then step 6 is repeated, otherwise perform step 7；
If 7) front truck is static, this car speed is more than 0 or this car speed is more than front truck, then carry out brake regulation, then
Perform step 8), otherwise perform step 6)；
8) safe distance D is carried outhEstimation, if measured distance D-DhMore than or equal to 1 meter, then apart from bigger than normal, increase this car system
Dynamic deceleration, performs step 7；If measured distance Dh- D is more than or equal to 1 meter, then apart from less than normal, reduce this car braking deceleration,
Perform step 7；Otherwise this car braking deceleration keeps, and performs step 7.
In formula, vbIt is this car current vehicle speed (ms-1)；TdRespectively driver's response time (s) and coefficient, TzIt is braking
Coordination time (s)；abIt is this car braking deceleration estimate (ms with k-2) and coefficient；vfIt is front truck current vehicle speed (ms-1)；
afIt is front truck braking deceleration estimate (ms-2)；D is the minimum safe distance after front truck and Ben Che stoppings between this car and front truck
(m)。
Assuming that DhIt is this car in this car braking procedure and front truck safe distance estimate, D is this car of radar period measurement
With front truck relative distance, minimum safe spacing Controlling model is：
T is radar range finding cycle s, this car and front truck minimum safe distance after d is Ben Che and front truck relative velocity is eliminated in formula
From m.
This car braking deceleration can be adjusted by regulation coefficient k so that measured value in the range measurement cycle of each radar
D values are close to estimate Dh。
Following distance and speed before collection, and this car speed, if excessive the causing of front truck deceleration is difficult to completely with preceding following distance
Sufficient braking distance, then detect vehicle both sides whether vehicle or barrier, if there are barrier or vehicle in both sides, not to direction master
Dynamic adjustment, if wherein side clear or vehicle, this car direction is adjusted to the side, if the equal clear in both sides or vehicle,
Then this car direction is adjusted to this car right side.
When active accommodation this car direction, the steering indicating light of institute's adjustment direction side is opened, while blowing a whistle.
The advantage of the invention is that the present invention combines inexpensive ultrasonic radar being carried out to the relative distance of close-in target
Accurate measurement, compensate for millimetre-wave radar closely range error deficiency bigger than normal.The calculation of safety distance mould that the present invention is used
Type increased self-learning module, it is considered to the individual difference between different vehicle braking ability and driver, and track, preceding
The influence factor such as car braking ability and transport condition, better adaptability, calculation of safety distance is more accurate.Present invention employs minimum
Safe distance between vehicles closed loop control framework, overcomes hysteresis quality and failure that measured value exists as the range estimation method of mode input
Property, and the larger problem of the universal deviation of safe distance estimation, it is ensured that the stability and robustness of minimum safe distance control,
Compensate for calculation of safety distance model deficiency affected by various factors.
The present invention proposes minimum safe spacing closed loop control method simultaneously, compensate for early warning distance and brake regulation distance
Calculating error is larger to cause minimum safe distance too small or excessive deficiency.
Brief description of the drawings
The content to every width accompanying drawing expression in description of the invention is briefly described below：
Fig. 1 is for autonomous with car system block diagram；
Fig. 2 is distance controlling flow chart.
Specific embodiment
As shown in figure 1, system includes front anticollision millimetre-wave radar；Front ultrasonic radar sensor；Objects ahead and
Environment sensing camera；Ultrasonic radar control unit, intelligent vehicle is independently with car control unit, warning reminding device and intelligence
Car brake-by-wire control unit and CAN are constituted.Anticollision millimetre-wave radar in front is used for real-time detection forward and static
The relative distance of target, speed and orientation angles, determine whether vehicle straight trip whether dangerous and its degree of danger, Yi Jishi
No collection early warning or brake regulation.
The ultrasonic sensors cooperation forward-looking radar and forward sight camera that vehicle front installs 2 low costs additional carry out front road
The perception of road environment, while being improved on the basis of existing Safety distance model, proposes safe early warning Range estimation model
With brake regulation Range estimation model, and minimum safe spacing closed loop control framework after brake regulation so that automatic with car system
System can either ensure traffic safety, while improving road travel efficiency.
The scope that 100 meters of vehicle front is detected that cooperation front camera is to front area by forward sight millimetre-wave radar
The target or barrier in domain are detected and recognized, by ultrasonic radar cooperation radar and camera in the range of 5 meters of front
Target or barrier in the region is detected, especially the accurate measurement of safe distance.Judge its degree of danger simultaneously
Decision-making is carried out, deceleration collision avoidance is carried out by intelligent vehicle brake-by-wire.Ultrasonic radar is used to detect the target in vehicle front rice
With the relative distance of this car, the relatively low deficiency of front millimeter wave radar proximity detection precision is made up, improve distance measurement precision.
Ultrasonic radar controller be used to gather the output signal of ultrasonic radar and by be calculated target and radar it is relative away from
From, and relation between the installation site and vehicle axis system for passing through radar calculates the positional information of target relative vehicle.
Vehicle forward sight camera is used to coordinate front millimeter wave radar further to recognize the type of target, the danger to target
Degree determined whether, provides foundation to urgent collision avoidance.The information fusion of radar and vision can effectively improve front ring
Accuracy and validity that border perceives.
Intelligent independent is with car system in addition to target relative distance needs accurate detection, in addition it is also necessary to which accurate safe distance is estimated
Calculation model estimation early warning distance and brake regulation distance, but safe distance and driver characteristics, braking performance of vehicle and traveling
The dynamic factors such as operating mode are relevant, even and if these factors are difficult to estimate and also have hysteresis quality by model prediction.The present invention is existing
Have on the basis of Safety distance model, introduce self-learning module, take into full account between different vehicle braking ability and driver
Individual difference, and the influence factor such as track, front truck braking ability and transport condition establishes safe early warning distance model
With brake regulation distance model, and the hysteresis quality as the range estimation method presence of mode input and failure for measured value
Property, it is proposed that to control vehicle minimum safe distance as the minimum safe spacing closed loop control framework of final goal, in collision avoidance
This car braking deceleration is constantly adjusted in journey, Dynamic Closed Loop Control is carried out to safe distance, it is ensured that Ben Che and front truck relative velocity
After elimination, minimum safe distance is maintained at a constant scope, it is to avoid excessive or too small, has both improve system range estimation
Precision, anti-collision risk is reduced, while also ensure that ride comfort and driving efficiency.
System main-control unit is by CAN and ultrasonic radar controller and forward sight camera, millimetre-wave radar
Communicated, obtained the detection data and the installation site by each sensor and respective coordinate system and this car of each sensor
Establishment of coordinate system corresponding relation, obtains each sensor detection target with respect to the particular location of this car, relative velocity and range information,
It is supplied to control strategy algorithm to do decision-making.Control strategy algorithm combines this car speed and running status according to the target information for obtaining
Output early warning information, and control warning device reminded to driver or by with intelligent vehicle brake-by-wire unit communication reality
Apply brake regulation.
Additionally, rear view of vehicle is provided with car detection radar, vehicle both sides are provided with lateral detection radar, lateral detection radar and
Rear view of vehicle information being detected with car detection radar and outputing signal to main control unit, main control unit outputs control signals to car
The display reminding unit and direction controlling unit at rear.The speed and distance of front vehicle can be detected with car detection radar,
Tip element can be LED display, point out vehicle to be normally in automatic cruising state, or display vehicle brake dynamics,
Give rear driver alert.Direction controlling unit can be the direction disk control unit on automatic Pilot unit, can control
The direction of vehicle, for being linked with automatic cruising, appoints so to be likely to occur and collides possible when vehicle braking, can be carried out by turning to
It is inevitable, need whether there is barrier or vehicle by lateral detections of radar side before turning to certainly.
As shown in Fig. 2 the control method of minimum safe following distance is as follows：
1) system electrification
2) control unit and radar system, visually-perceptible system and brake-by-wire unit carry out fault self-checking；
3) if system breaks down, fault alarm is carried out, otherwise perform 4；
4) front truck state examinations, by millimetre-wave radar sensor, ultrasonic radar sensor and visually-perceptible system
System is detected and recognized to front vehicles.If front truck slows down, step 5 is performed, otherwise continue to carry out reality to front vehicles
When detect；
5) estimation early warning distance Dw, then judge, if whether measured distance D is more than or equal to Dw, then step 5 is repeated,
Otherwise perform step 6；
6) anti-collision warning, while estimating brake regulation apart from Dz, then judge, if whether measured distance D is more than or equal to
Dz, then step 6 is repeated, otherwise perform step 7；
If 7) front truck is static, this car speed is more than 0 or this car speed is more than front truck, then carry out brake regulation, then
Step 8 is performed, step 6 is otherwise performed；
8) safe distance D is carried outhEstimation, if measured distance D-DhMore than or equal to 1 meter, then apart from bigger than normal, increase this car system
Dynamic deceleration, performs step 7；If measured distance Dh- D is more than or equal to 1 meter, then apart from less than normal, reduce this car braking deceleration,
Perform step 7；Otherwise this car braking deceleration keeps, and performs step 7.
There are car or rear to follow the speed of this car too fast or hypotelorism if detecting rear, can be given by display unit
Rear car is given to point out, while after this car starts with car system, also can know that this car is currently in automatically by rear car by display unit
Driving condition.
Additionally, the preceding following distance of collection and speed, and this car speed, if front truck deceleration is excessive causing and preceding following distance hardly possible
To meet braking distance, then detect vehicle both sides whether vehicle or barrier, if there are barrier or vehicle in both sides, not other side
To active accommodation, if wherein side clear or vehicle, this car direction is adjusted to the side, if the equal clear in both sides or car
, then adjust this car direction to this car right side.
When this car is in normally with car running operation, front truck emergency deceleration is caught sight of.This car then takes braking deceleration
Collision avoidance, front truck running status is that final speed cannot be predicted, therefore early warning distance DwWith brake regulation apart from DzEstimation, it is assumed that with
Front truck is finally stopped, and rear car is estimated premised on also stopping, then calculation of safety distance model is under the operating mode：
In formula, vbIt is this car current vehicle speed (ms-1)；TdRespectively driver's response time (s) and coefficient, TzIt is braking
Coordination time (s)；abIt is this car braking deceleration estimate (ms with k-2) and coefficient；vfIt is front truck current vehicle speed (ms-1)；
afIt is front truck braking deceleration estimate (ms-2)；D is the minimum safe distance after front truck and Ben Che stoppings between this car and front truck
(m)。
This car is braked in being modified adjustment model to parameter l to this car braking ability assessment result by self-learning module
Deceleration abPreset value, to match this car braking ability.By learning by oneself assessment result of the module to driver's response time, adjustment
Driver's response time T in modeldPreset value.Coordinate the assessment result of time, adjustment to brakes by self-learning module
Driver's response time T in modelzPreset value.K is adjusted by road surface identification module to be modified, this car and preceding in adjustment model
Car braking deceleration abPreset value, to match current driving road surface.By the adaptive correction to relevant parameter, the safety for making away from
It is more rational from estimating, more meet practical application scene, it is more accurate to estimate, it is ensured that while vehicle does not collide, keep compared with
Driving efficiency high, ride comfort and driving experience.Formula (1) (2) is only applicable to estimate to start early warning distance and braking is dry
Pre- distance.If not this car of real-time adjustment braking deceleration in this car moderating process, this car and front truck relative velocity are eliminated
To be likely to occur deviation excessive or too small for minimum safe distance and preferable distance afterwards, it is impossible to keeps collision avoidance probability and row higher
Car efficiency.Minimum safe distance is maintained at ideal range after keeping this car and front truck to be eliminated with respect to speed.For vehicle braking
Running status operating mode after intervention, it is proposed that a kind of closed loop approaches self adaptation minimum safe distance estimation control model.In this car
After starting braking deceleration, influence the factor of d values to be mainly front truck braking distance and Ben Che braking distances, braked by adjusting this car
Deceleration is adjusted to braking distance, it is ensured that d is in a preferable scope.
Assuming that DhIt is this car in this car braking procedure and front truck safe distance estimate, D is this car of radar period measurement
With front truck relative distance, minimum safe spacing Controlling model is：
T is radar range finding cycle (s), this car and front truck minimum safe after d is Ben Che and front truck relative velocity is eliminated in formula
Distance (m), ideally each range finding period measurement relative distance D should and DhIt is close, it is maintained at certain error model
Enclose.D may be excessive if D is excessive, and this car may suddenly slow down, and cause the discomfort of driver and crew, while reducing road
Driving efficiency.D may be too small if D is too small, increases risk of collision.Front truck braking deceleration parameter is except according to road in model
Face identification module is held essentially constant outside being adjusted.Therefore can be by regulation coefficient k in the range measurement cycle of each radar
This car braking deceleration is adjusted so that measured value D values are close to estimate Dh, using this evaluation method then without the concern for preceding
The final operating speed of car, practicality is stronger in actual scene, keeps d values in the reasonable scope.abWith afAccording to millimeter wave thunder
The real-time speed of relative speed and Ben Che up to Real-time Collection is updated, and a closed loop prediction model is formed, by real-time adjustment
This car braking deceleration parameter coefficient l adjusts comparatively safe distance so that relative distance d more they tends to close after being eliminated with respect to speed
Reason.
Wherein TdGeneral span 0.4s~1.5s, representative value 1s；TzGeneral value is 200~400ms, representative value
300ms；ab3.0~9.8ms of general span-2, representative value：Car brake deceleration；5.5m·s-2；Truck brake slows down
Degree 3.6ms-2.Coefficient j, k, l, m are pre-seted and are 1, excursion 0.5~1.5；1~2m of d spans.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that the present invention is implemented and do not receive aforesaid way
Limitation, as long as employing the improvement of various unsubstantialities that method of the present invention design and technical scheme are carried out, or without changing
Enter and design of the invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (6)
1. autonomous with car system, system is provided with the front anticollision millimetre-wave radar installed in vehicle front, and the front anticollision is in the least
Metre wave radar outputs signal to main control unit, the main control unit output alarm signal to warning reminding list through CAN
Unit, the main control unit exports brake signal to brake-by-wire unit, it is characterised in that：The front anticollision millimetre-wave radar
Both sides are respectively provided with a ultrasonic radar, and the ultrasonic radar outputs signal to ultrasonic radar control unit, described super
Sound radar control unit outputs signal to main control unit through CAN；
Vehicle front is provided with vehicle forward sight camera, and the vehicle forward sight camera outputs signal to main control list through CAN
Unit；
Rear view of vehicle is provided with car detection radar, described to detect rear view of vehicle information with car detection radar and output signal to master control
Unit processed, the main control unit outputs control signals to the display reminding unit of rear view of vehicle；
Vehicle both sides are provided with lateral detection radar, and the lateral detection radar simultaneously outputs signal to main control unit, the master control
Unit processed outputs control signals to direction controlling unit；
Control method based on the autonomous minimum safe following distance with car system：
1) system electrification；
2) fault self-checking；
3) fault alarm is carried out if it there is failure, and closes system, system starts if in the absence of failure；
4) real-time detection front truck state, by millimetre-wave radar sensor, ultrasonic radar sensor and visually-perceptible system pair
Front vehicles are detected and recognized, if front truck slows down, perform step 5), otherwise continue to examine front vehicles in real time
Survey；
5) estimation early warning distance Dw, then judge, if whether measured distance D is more than or equal to Dw, then step 5 is repeated)；
6) anti-collision warning, while estimating brake regulation apart from Dz, then judge, if whether measured distance D is more than or equal to Dz, then
Repeat step 6), otherwise perform step 7)；
If 7) front truck is static, this car speed is more than 0 or this car speed is more than front truck, then carry out brake regulation, then performs
Step 8), otherwise perform step 6)；
8) safe distance D is carried outhEstimation, if measured distance D-DhMore than or equal to 1 meter, then apart from bigger than normal, increase the braking of this car and subtract
Speed, performs step 7；If measured distance Dh- D is more than or equal to 1 meter, then apart from less than normal, reduce this car braking deceleration, performs
Step 7；Otherwise this car braking deceleration keeps, and performs step 7.
2. the control method of the autonomous minimum safe following distance with car system according to claim 1, it is characterised in that：
In formula, vbIt is this car current vehicle speed ms-1；TdRespectively driver's response time s, TzIt is brake coordination time s；abAnd k
It is this car braking deceleration estimate ms-2And coefficient；vfIt is front truck current vehicle speed ms-1；afFor front truck braking deceleration is estimated
Evaluation ms-2；D is the minimum safe distance m after front truck and Ben Che stoppings between this car and front truck.
3. the control method of the autonomous minimum safe following distance with car system according to claim 1, it is characterised in that：It is false
If DhIt is this car in this car braking procedure and front truck safe distance estimate, D is that this car of radar period measurement is relative with front truck
Distance, minimum safe spacing Controlling model is：
T is radar range finding cycle s, this car and front truck minimum safe distance m after d is Ben Che and front truck relative velocity is eliminated in formula.
4. the control method of the autonomous minimum safe following distance with car system according to claim 3, it is characterised in that：
The range measurement cycle of each radar this car braking deceleration can be adjusted by regulation coefficient k so that measured value D values close to
Estimate Dh。
5. the control method of the autonomous minimum safe following distance with car system according to claim 1, it is characterised in that：Adopt
Following distance and speed before collection, and this car speed, if excessive the causing of front truck deceleration is difficult to meet braking distance with preceding following distance,
Then detection vehicle both sides whether vehicle or barrier, if there are barrier or vehicle in both sides, not to direction active accommodation, if its
Middle side clear or vehicle, then adjust this car direction to the side, if the equal clear in both sides or vehicle, to this car right side
Adjust this car direction.
6. the control method of the autonomous minimum safe following distance with car system according to claim 5, it is characterised in that：When
During active accommodation this car direction, the steering indicating light of institute's adjustment direction side is opened, while blowing a whistle.
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