CN106184346A - CCD camera assembly linkage steering wheel for vehicle recoil reduces device and control method thereof - Google Patents
CCD camera assembly linkage steering wheel for vehicle recoil reduces device and control method thereof Download PDFInfo
- Publication number
- CN106184346A CN106184346A CN201510441166.1A CN201510441166A CN106184346A CN 106184346 A CN106184346 A CN 106184346A CN 201510441166 A CN201510441166 A CN 201510441166A CN 106184346 A CN106184346 A CN 106184346A
- Authority
- CN
- China
- Prior art keywords
- mentioned
- recoil
- vehicle
- steering wheel
- barrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000004888 barrier function Effects 0.000 claims abstract description 121
- 230000009467 reduction Effects 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 9
- 230000001788 irregular Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000000151 deposition Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- 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
- B60W40/02—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 ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- 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
-
- 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
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
Abstract
The present invention relates to CCD camera assembly linkage steering wheel for vehicle recoil and reduce device and control method thereof, especially, the linkage steering wheel for vehicle recoil of above-mentioned CCD camera assembly reduces device and includes: information of road surface collector unit, the information of the barrier on the mobile route being configured at the left and right tire that the CCD camera assembly of windshield collects vehicle by the way of with the front part of the travel direction of shooting vehicle；And recoil reduces unit, for the information according to the barrier collected by information of road surface collector unit, provide auxiliary torque to the steering wheel being arranged at vehicle, thus the advantage that can make vehicle safe driving is provided.
Description
Technical field
The present invention relates to CCD camera assembly linkage steering wheel for vehicle recoil and reduce device and control method thereof, more
Relate to situation or the obstacle information etc. on the road surface that collection is collected by CCD camera assembly in detail, prevent
Or the back attack phenomenon of minimizing steering wheel, thus the CCD camera assembly linkage vehicle side of convenience for users can be improved
Device and control method thereof is reduced to dish recoil.
Background technology
Usually as the power-assisted transfer of vehicle, use the fluid pressure type of the hydraulic pressure utilizing hydraulic pump
Transfer (Hydraulic Power Steering Apparatus), but the nineties in 20th century it
After, utilize the column assist device (EPS, Electric Steering Apparatus) of electric motor by
Gradually popularize.
For existing fluid pressure type transfer, as the liquid of the power source that power is played assosting effect
Press pump by drive engine whether to rotate consumed energy the most all the time with steering wheel, in contrast,
Electric-type transfer is then being produced under torque condition by human pilot rotation steering wheel, makes to drive by electric energy
Dynamic motor provides auxiliary torque to steering wheel.Therefore, in the case of using column assist device,
Compared with fluid pressure type transfer, can more improve the energy efficiency of vehicle.
In conventional column assist device, by from detecting means (torque sensor, speed sensing
Device, steering angle sensor etc.) receive various signal after the transport condition grasping vehicle, regulation circulation
The magnitude of current of motor, thus controls the driving of motor, thus controls to be provided as the moment of torsion of auxiliary torque.
But, the column assist device of prior art cannot come by pavement state based on travel direction completely
Control the vehicle in travelling.Recently, real-time reception GPS (GPS) information is disclosed
Calculate the auxiliary of the information such as inclination degree of the front part of travel direction based on the vehicle in travelling
Moment of torsion also carries out the technology (Korean Patent Laid 10-2010-0020677) reflected, but this is only
Only belong to utilize the information of road surface of the front part of the travel direction of the vehicle in travelling to be predicted, and difficult
Suddenly appear in the barrier of travel with correct reply, and exist and actually occurring collision with barrier
In the case of, it is difficult to the problem preventing the back attack phenomenon inversely transmitted by tire to steering wheel.
Prior art literature
Korean Patent Laid the 10-2010-0020677th (on 02 23rd, 2010 open)
Summary of the invention
The present invention is used for solving technical problem as above, its object is to, it is provided that following photographic head
Assembly linkage steering wheel for vehicle recoil reduces device and control method thereof, i.e. timely by CCD camera assembly
Obtain the front part of the travel direction that vehicle under steam occurs barrier three-dimensional state information it
After, in the case of preventing vehicle under steam from directly breaking the barriers, at steering wheel generation back attack phenomenon.
The present invention provides CCD camera assembly linkage steering wheel for vehicle recoil to reduce device, above-mentioned CCD camera assembly
Linkage steering wheel for vehicle recoil reduces device and includes: information of road surface collector unit, for by shoot car
The mode of front part of travel direction be configured at the CCD camera assembly of windshield and collect above-mentioned vehicle
Left and right tire mobile route on the information of barrier, whether the information of above-mentioned barrier comprises and exists
Barrier, the kind of above-mentioned barrier and size information；And recoil reduce unit, for according to by
State the information of the above-mentioned barrier that information of road surface collector unit is collected, to the direction being arranged at above-mentioned vehicle
Dish provides auxiliary torque, and above-mentioned information of road surface collector unit is by being arranged at vehicle in mode spaced apart from each other
Pair of lens shoot above-mentioned barrier simultaneously, obtain the information of above-mentioned barrier and three-dimensional state letter
Breath.
In the present invention, above-mentioned CCD camera assembly the above-mentioned barrier detected includes under above-mentioned road surface
Side depression pit-hole, have in above-mentioned pit-hole the state of water puddle, prominent to the top on above-mentioned road surface and
Deceleration strip that left and right in identical lane line is the most different and being formed on identical driving path and above-mentioned
The irregular road surface that the height on road surface is different.
In the present invention, also include: recoil expected cell, directly travel on by above-mentioned road at above-mentioned vehicle
In the case of the road surface ahead of the information that surface information collector unit collects barrier, it may be judged whether direction occurs
The back attack phenomenon of dish；And recoil torque value determines unit, above-mentioned recoil expected cell it is being judged as sending out
In the case of raw back attack phenomenon, determine and carry out the recoil moment of torsion to steering wheel transmission by estimated recoil
Value.
In the present invention, above-mentioned recoil reduction unit is upper according to collected by above-mentioned information of road surface collector unit
State the information of barrier to respond above-mentioned recoil torque value, thus supplied to above-mentioned steering wheel by human pilot
Auxiliary torque is increased to above-mentioned steering wheel on the steering torque given.
In the present invention, above-mentioned recoil reduce device with respond above-mentioned barrier with travel in vehicle every
The mode opening distance is come to above-mentioned steering wheel additional to be received the above-mentioned of unit collection by above-mentioned information of road surface
Above-mentioned auxiliary torque based on the information of barrier.
Present invention additionally comprises torque sensor, above-mentioned torque sensor is for detecting by human pilot to above-mentioned
The steering torque that steering wheel provides, control portion is just detected by above-mentioned moment of torsion detection sensor by comparing
Often torque value and the recoil torque value from the tire transmission travelled on above-mentioned barrier, distinguish normal turning
Situation is turned to situation and recoil.
In the present invention, above-mentioned recoil reduction unit utilizes electric drive mode, hydraulic driving mode and gas
One in type of drive, to provide above-mentioned auxiliary torque to above-mentioned steering wheel.
In the present invention, above-mentioned recoil torque value determines that unit is according to being detected by above-mentioned CCD camera assembly
The kind of above-mentioned barrier and the travel speed of above-mentioned vehicle differently determine above-mentioned recoil torque value.
The present invention provides CCD camera assembly linkage steering wheel for vehicle recoil reduction method, above-mentioned CCD camera assembly
Linkage steering wheel for vehicle recoil reduction method includes: information of road surface collects step, by with shooting vehicle
The mode of the front part of travel direction is configured at a left side for the CCD camera assembly above-mentioned vehicle of collection of windshield
The information of the barrier on the mobile route of right wheel tire, the information of above-mentioned barrier comprises whether there is obstacle
Thing, the kind of above-mentioned barrier and size information；And recoil reduces step, believe according on above-mentioned road surface
Breath is collected the information of the above-mentioned barrier collected in step and is provided to the steering wheel being arranged at above-mentioned vehicle
Auxiliary torque, in above-mentioned information of road surface collects step, by being arranged at vehicle in mode spaced apart from each other
Pair of lens shoot above-mentioned barrier simultaneously, obtain the information of above-mentioned barrier and three-dimensional state letter
Breath.
In the present invention, collect after step at above-mentioned information of road surface and reduce in above-mentioned recoil step it
Before, also include: recoil prediction step, directly travel at above-mentioned vehicle and collected by above-mentioned information of road surface
In the case of the road surface ahead of the information of collection step barrier, it may be judged whether the recoil that steering wheel occurs is existing
As；And recoil torque value determines step, it is being judged as occurring recoil existing by above-mentioned recoil prediction step
In the case of as, determine and carry out the recoil torque value to steering wheel transmission by estimated recoil.
In the present invention, in above-mentioned recoil reduces step, collect step according at above-mentioned information of road surface
The information of the above-mentioned barrier collected in rapid responds above-mentioned recoil torque value, thus by driver
Member increases auxiliary torque to above-mentioned steering wheel on the steering torque that above-mentioned steering wheel supplies.
In the present invention, in above-mentioned recoil reduces step, in responding above-mentioned barrier and travelling
The mode separated by a distance of vehicle come to above-mentioned steering wheel additional to receive step at above-mentioned information of road surface
Above-mentioned auxiliary torque based on the information of the above-mentioned barrier collected in rapid.
In the present invention, above-mentioned information of road surface collect step be by with mode spaced apart from each other along
The left and right directions of vehicle is arranged at the pair of lens of above-mentioned CCD camera assembly and shoots simultaneously and be positioned at above-mentioned road
The identical barrier in face, thus in the way of three-dimensional, obtain the step of the status information of above-mentioned barrier.
In the present invention, also include moment of torsion detecting step, detect by human pilot to above-mentioned steering wheel
The steering torque provided, above-mentioned control portion detects in above-mentioned moment of torsion detecting step by comparing
Normal torque value and the recoil torque value from the tire transmission travelled on above-mentioned barrier, distinguish
Normal direction of rotation situation and recoil turn to situation.
In the present invention, above-mentioned recoil prediction step includes: judge whether the pattern of barrier,
Above-mentioned barrier is judged whether from the above-mentioned pavement state detected by above-mentioned CCD camera assembly；
And judge back attack phenomenon pattern, if being judged by the above-mentioned pattern judging whether barrier
For there is above-mentioned barrier, then judge whether to cause recoil because of above-mentioned barrier to above-mentioned steering wheel
Phenomenon.
In the present invention, in above-mentioned judgement back attack phenomenon pattern, according to the kind of barrier and big
The little information comparing the above-mentioned barrier obtained by above-mentioned CCD camera assembly and the information set are come
Judge.
In the present invention, determine in step at above-mentioned recoil torque value, according to by above-mentioned photographic head group
The kind of the above-mentioned barrier that part detects and the travel speed of above-mentioned vehicle differently determine above-mentioned
Recoil torque value.
In the present invention, reduce after step in above-mentioned recoil, also include correcting recoil value determine and
Storing step, determines and in storing step in above-mentioned correction recoil value, determines with basis with by upper
State above-mentioned recoil torque value that recoil torque value determines that step determines to add the knot of above-mentioned auxiliary torque
Fruit and betide correction recoil value that the actual recoil amount of above-mentioned steering wheel compares and store.
In the present invention, the above-mentioned correction calculating in above-mentioned correction recoil value and determining in storing step
Recoil value is by the kind of barrier and size, the speed of above-mentioned vehicle and basic at above-mentioned vehicle
The value that the additional weight added on weight is taken into account.
In the present invention, above-mentioned correction recoil value is used as the upper of above-mentioned judgement back attack phenomenon pattern
State the information set.
In the present invention, adding the result of above-mentioned auxiliary torque with above-mentioned recoil torque value, if
At above-mentioned steering wheel, actual recoil amount occurs, then the indicator for displaying by being arranged at above-mentioned vehicle is sent out
Raw above-mentioned actual recoil amount.
In the present invention, in above-mentioned recoil reduces step, electric drive mode, hydraulic-driven are utilized
One in mode and gas-powered mode, to provide above-mentioned auxiliary torque to above-mentioned steering wheel.
In the present invention, recoil value will be used as after the above-mentioned correction recoil value of storage.
CCD camera assembly linkage steering wheel for vehicle recoil according to the present invention reduces device and control method thereof
Preferably one embodiment, obtained the traveling of the vehicle suddenly appeared in traveling in time by CCD camera assembly
The three-dimensional state information of the barrier of the front part in direction calculates auxiliary torque, thus has by complete
The full effect preventing security incident at steering wheel generation back attack phenomenon.
Accompanying drawing explanation
Fig. 1 is to illustrate in the structure that the CCD camera assembly linkage steering wheel for vehicle recoil of the present invention reduces device
The axonometric chart of the state that arranges of CCD camera assembly.
Fig. 2 is the front of the travel direction illustrating the vehicle in being travelled by the CCD camera assembly shooting in Fig. 1
The schematic diagram of the state in portion.
Fig. 3 is that illustrate can be by the schematic diagram of illustration of the barrier of CCD camera assembly detection.
Fig. 4 is the axonometric chart of the outward appearance illustrating the CCD camera assembly in the structure in Fig. 1.
Fig. 5 is to illustrate in the structure that the CCD camera assembly linkage steering wheel for vehicle recoil of the present invention reduces device
Recoil reduce unit axonometric chart.
Fig. 6 is the control structure of the CCD camera assembly linkage steering wheel for vehicle recoil reduction device of the present invention
Figure.
Fig. 7 is that the CCD camera assembly linkage steering wheel for vehicle recoil of the present invention reduces the control of device sequentially
Figure.
Fig. 8 is preferably the one of the CCD camera assembly linkage steering wheel for vehicle recoil reduction method representing the present invention
The block diagram of embodiment.
Detailed description of the invention
Hereinafter, the CCD camera assembly linkage steering wheel for vehicle recoil that present invention will be described in detail with reference to the accompanying reduces
Preferably one embodiment of device.
Fig. 1 is to illustrate in the structure that the CCD camera assembly linkage steering wheel for vehicle recoil of the present invention reduces device
The axonometric chart of the state that arranges of CCD camera assembly, Fig. 2 is to illustrate to be shot by the CCD camera assembly in Fig. 1
The schematic diagram of the state of the front part of the travel direction of the vehicle in traveling, Fig. 3 can be by shooting for illustrating
The schematic diagram of the illustration of the barrier of head component detection, Fig. 4 is to illustrate the photographic head in the structure in Fig. 1
The axonometric chart of the outward appearance of assembly.
As shown in Figures 1 to 4, the CCD camera assembly linkage steering wheel for vehicle recoil in the present invention reduces dress
In preferably one embodiment put, including: (information of road surface being equivalent to the present invention is received in information of road surface collection portion
Collection unit), for being configured at windshield by the way of with the front part of the travel direction of shooting vehicle
The CCD camera assembly 100 of the central upper end left and right tire of collecting vehicle mobile route on whether deposit
In the information of barrier, the kind of barrier and size information (hereinafter referred to as " information of barrier ")；
And recoil reduction portion (recoil being equivalent to the present invention reduces unit) 110, for according to being believed by road surface
The information of the barrier that breath collection portion collects, provides auxiliary torque to the steering wheel 20 being arranged at vehicle.
Here, as shown in Figure 4, CCD camera assembly 100 plays the role that by be spaced from each other
Mode along vehicle left and right directions arrange pair of lens 105A, 105B, simultaneously in shooting focal length
Barrier, the information obtaining taken barrier in time and the vehicle 1 comprised in traveling and obstacle
The three-dimensional state information separated by a distance of thing.
In more detail, as shown in Figure 4, CCD camera assembly 100 includes bracket assembled body and to separate regulation
The mode of distance is arranged at pair of lens 105A of the left and right of bracket assembled body 101,105B.A pair mirror
The travel direction of head 105A, 105B vehicle 1 from the traveling corresponding with the visual angle set respectively
Front part gathers light, and after generating image by not shown imageing sensor, by not shown
Image processing board carries out image processing in three dimensions.
Especially, as described in the present invention, CCD camera assembly 100 with camera lens 105A, 105B at least two
Individual three-dimensional setting, have can by gather by each camera lens 105A, 105B and the image that generate and
Time obtain three-dimensional state information based on trigon barrier advantage.On the contrary, at CCD camera assembly 1
00 in the case of the unitary type that arranges in the way of single camera lens, in the way of leaving time difference by
After the plural image of single-lens generation, it is considered to the change of the pixel unit of the image generated and car
Travel speed etc. predict three-dimensional state information and calculate, but when this not only needs certain
Between, and institute's three-dimensional state information of barrier of predicting and calculating is not information accurately yet, but
, in this compared with three-dimensional, there is the reliability decrease of information causing collecting in the information of prediction
Problem.
CCD camera assembly linkage steering wheel for vehicle recoil in the present invention reduces preferably one embodiment of device
In, available from the two dimensional image that each camera lens 105A, 105B of constituting CCD camera assembly 100 obtain
Obtain the compound eye method of depth information.
As described in the present invention, in the case of camera lens 105A, 105B are two, can be with the mankind's
Obtain image under the state that visual structure is placed with object similarly, and take from acquired left and right image
Obtain the displacement unanimously put, so that detecting degree of depth letter with simple triangulation (Triangulation)
Breath.
Such as, shooting Fig. 3 institute by pair of lens 105A of CCD camera assembly 100,105B simultaneously
In the case of pit-hole 10A in the various barriers shown, obtain two images simultaneously photographed, and two
Individual image is the aggregation assembled by unit picture element respectively, if comparing the difference of the pixel that each image embodies respectively
Different, the most easily obtain the three-dimensional state information such as the size of pit-hole 10A and the degree of depth, in current traveling
Vehicle 1 is on the basis of the three-dimensional state information of this barrier, and maintains original travel direction to make two
One in individual tire, in the case of pit-hole 10A, can determine whether back attack phenomenon.
The barrier detected by the CCD camera assembly 100 being made up of this structure can include to road surface 10
Lower section depression pit-hole 10A, have the puddle 10B of the state of water in pit-hole 10A, to road surface 10
The deceleration strip 10C that top is prominent and left and right in identical lane line is the most different and be formed at identical
The irregular road surface 10D that the height on driving path and road surface 10 is different.
This barrier generally refers to so that the side tire configuration in the left and right tire of the vehicle 1 in traveling
On the path travelled, and there is the height of the degree that tire at least can be made to press through from the upside of above-mentioned barrier
The barrier of degree difference, may be interpreted as all including when only having one in left side tire and right side tire wheel tire pressure
Uneven road shocks between two tires occurred when crossing barrier can transmit to steering wheel 20
The object of degree.
Fig. 5 is to represent in the structure that the CCD camera assembly linkage steering wheel for vehicle recoil of the present invention reduces device
The axonometric chart in recoil reduction portion 110, Fig. 6 is the CCD camera assembly linkage steering wheel for vehicle recoil of the present invention
Reduce the control structure figure of device.
As shown in Figures 5 and 6, the CCD camera assembly linkage steering wheel for vehicle recoil in the present invention reduces dress
In preferably one embodiment put, recoil reduces unit 110 and comprises the steps that steer motor 30, for by driving
The personnel that sail provide auxiliary torque to steering wheel 20 on the steering torque that steering wheel 20 provides；And control
Portion 60 processed, for the information according to the barrier collected by information of road surface collection portion, controls steer motor
The work of 30.
As it is shown in figure 5, steer motor 30 and the steering column 50 of the center of rotation axle as steering wheel 20
Side combine, thus play the effect of auxiliary torque giving regulation to steering column 50.
The bottom of steering column 50 be connected about track rod 40 between two tires be connected,
And make the direction of operating operation track rod 40 according to steering wheel 20, so that it is determined that the car in Hang Shiing
The travel direction of 1.Here, the back attack phenomenon of steering wheel 20 refers to when vehicle travels irregular
During road surface 10, as medium and pass sequentially through track rod 4 from irregular road surface 10 with two tires
0 and the final phenomenon transmitting impact to the steering wheel 20 operated by human pilot of steering column 50, instead
Rush phenomenon serious in the case of, human pilot can not feel well, it is possible to draw during travelling
Act the problem making steer motor 30 impaired.
Generally, control portion 60 can be that the work not only controlling steer motor 30 also controls all being arranged at
The electronic-controlled installation (ECU, Electronic Control Unit) in the various function action portions of vehicle.
Control portion 60 controls the work of steer motor 30 so that above-mentioned steer motor 30 responds to direction
The recoil moment of torsion that dish 20 flows into, come in time to steering wheel 20 supply as auxiliary torque based on by road surface
The auxiliary torque that the information of the barrier that information collection component is collected calculates.
Now, it is preferable that control unit 60 controls the work of steer motor 30 so that by conduct
After the CCD camera assembly 100 in information of road surface collection portion obtains the three-dimensional state information of barrier in time,
Maintain unchangeably by torque sensor and the vehicle speed sensor etc. for detecting not shown steering torque
In the case of the predicted travel path of the Current vehicle detected, calculate the time etc. broken the barriers, come
At the recoil moment of torsion occurred because of back attack phenomenon before steering wheel 20 flows into, make recoil moment of torsion as auxiliary
Moment of torsion is helped to offset.In the present invention, recoil expected cell calculates the time etc. by above-mentioned barrier.
The front of the information being collected barrier by above-mentioned information of road surface collection portion is directly travelled at above-mentioned vehicle
In the case of road surface, above-mentioned recoil expected cell judge whether occur steering wheel back attack phenomenon, and by
In the case of above-mentioned recoil expected cell is judged as back attack phenomenon, recoil torque value determines that unit determines
The recoil torque value to steering wheel transmission is carried out by estimated recoil.
Here, the steering torque that torque sensor is provided to steering wheel 20 by human pilot for detection,
And the steering torque detected by torque sensor is defined as normal torque value, control portion 60 compare from
The recoil torque value of the tire transmission travelled on barrier and normal torque value as above, make to drive
Whether sail personnel's normal operational steering wheel, thus should distinguish is to turn to torsion as being detected by torque sensor
The recoil that the normal direction of rotation situation of square is still occurred because of the back attack phenomenon that inversely transmitted by two tires
Recoil caused by moment of torsion turns to situation (this is equivalent to the moment of torsion detecting step of the present invention).
This is because, even if not being that recoil turns to situation, in the case of normal direction of rotation, to steering wheel 20
Additional auxiliary torque the most likely can make human pilot feel the difference sense of operation.
Recoil reduction unit 110, not merely with electric drive mode as above, is also with hydraulic-driven
One in mode and gas-powered mode, provides auxiliary torque to steering wheel 20.The present invention's
CCD camera assembly linkage steering wheel for vehicle recoil reduces in preferably one embodiment of device, for the ease of saying
Bright, only recoil is reduced the concrete structure of unit 110 and is confined to include based on electric drive mode turn to electricity
Machine 30 and control unit 60, but the invention of the present invention claims scope is not limited thereto, as long as can
Suitably to control hydraulic-driven and gas-powered, then also can use hydraulic driving mode as above and
Gas-powered mode, this is apparent from.
To the CCD camera assembly linkage steering wheel for vehicle utilizing the present invention constituted in the manner
The control method of the back attack phenomenon that recoil reduces device is carried out as follows more detailed description.
Fig. 7 is that the CCD camera assembly linkage steering wheel for vehicle recoil of the present invention reduces the control of device sequentially
Figure, Fig. 8 is preferably the one of the CCD camera assembly linkage steering wheel for vehicle recoil reduction method representing the present invention
The block diagram of embodiment.
As shown in Figures 7 and 8, the CCD camera assembly linkage steering wheel for vehicle recoil reduction method of the present invention
Preferably one embodiment comprise the steps that pavement detection step (step S10), by CCD camera assembly 100
The road surface ahead state of the travel direction of detection vehicle；Recoil prediction step (step S20), vehicle is straight
Connect and travel in the case of the road surface ahead 10 detected by pavement detection step (step S10), sentence
The disconnected back attack phenomenon whether steering wheel 20 occurs；Recoil torque value calculation procedure (step S30), logical
Cross recoil prediction step (step S20) to be judged as occurring in the case of back attack phenomenon, by estimated
Recoil calculates the recoil torque value to steering wheel 20 transmission；And recoil reduces step (step S40),
Respond the recoil torque value calculated by recoil torque value calculation procedure S30, come attached to steering wheel 20
Add auxiliary torque.
CCD camera assembly linkage steering wheel for vehicle back attack phenomenon controlling party in a present invention preferably embodiment
In method, show as " reduction " and betide the recoil of steering wheel 20, but the mesh of the technical characteristic of the present invention
Be, from reduce back attack phenomenon further, block generation back attack phenomenon completely.
In order to realize this purpose, in the control method of a present invention preferably embodiment, pavement detection walks
Suddenly (step S10) can be to take the photograph by being arranged at along the left and right directions of vehicle in mode spaced apart from each other
As pair of lens 105A of head assembly 100,105B shoot the traveling of the vehicle being positioned in traveling simultaneously
The identical barrier of the road surface ahead 10 in direction, thus in obtaining barrier in three dimensions and travelling
Vehicle 1 separated by a distance and the status information (hereinafter referred to as " information of barrier ") of barrier
Step.
That is, in the control method of a present invention preferably embodiment, utilize by two camera lens 105A, 105
B constitute three-dimensional CCD camera assembly 100 rather than by the single-lens unitary type CCD camera assembly constituted,
The thus unit picture element of comparable two images simultaneously photographed, and not compare and leave time difference and clap
Two images taken the photograph, obtain the information of barrier more accurately, thus can judge whether in time to send out
Raw back attack phenomenon.
Such as, recoil prediction step (step S20) comprises the steps that the pattern judging whether barrier
(step S21), judges whether obstacle from the pavement state detected by CCD camera assembly 100
Thing；And judge back attack phenomenon pattern (step S22), if by the mould judging whether barrier
Formula (step S21) is judged as there is barrier, then judge whether to cause to steering wheel 20 because of barrier
Back attack phenomenon.
In judging back attack phenomenon pattern (step S22), kind and size according to barrier are more logical
Information and the information set of crossing the barrier that CCD camera assembly 100 obtains judge.Here,
Content as be described hereinafter, although the above-mentioned information set can be to reduce step (step S40) by recoil
To the additional auxiliary torque of steering wheel 20, but reflect more real in the case of there is back attack phenomenon actually
The information of the correction recoil value that border recoil amount calculates.
Here, examined by CCD camera assembly 100 according to recoil torque value calculation procedure (step S30)
The kind of the barrier measured and the travel speed of vehicle differently calculate the step of recoil torque value.
In recoil reduces step S40, available electric drive mode, hydraulic driving mode and gas-powered
One in mode, provides auxiliary torque to steering wheel 20.
On the other hand, according to the CCD camera assembly linkage steering wheel for vehicle back attack phenomenon control method of the present invention
Preferably one embodiment, after recoil reduces step (step S40), may also include correction recoil value
Calculate and storing step (step S50), calculate and storing step (step S5 in above-mentioned correction recoil value
0), in, the recoil compared according to be calculated is calculated by recoil torque value calculation procedure (step S30)
Torque value betides the actual recoil amount of steering wheel 20 to the result of the additional auxiliary torque of steering wheel 20
Correction recoil value and store.
Here, correction recoil value can be by the kind of the barrier collected by CCD camera assembly 100
And size, the speed of above-mentioned vehicle and additional weight additional on the basis weight of above-mentioned vehicle consider
In interior value.That is, if actually occurring back attack phenomenon at steering wheel 20, then its recoil amount can be according to obstacle
The three-dimensional state information of thing presses barrier and different, and can whole because of the current driving speed of vehicle and vehicle
The change of body weight and different, in a present invention preferably embodiment, calculate correction recoil value and deposit
Storage, thus using information more accurately as foundation.
Meanwhile, correction recoil value can be used as judging the setting of back attack phenomenon pattern (step S22)
Information.Like this, in the case of correction recoil value is used as the information set, after having
The advantage that can suitably tackle back attack phenomenon based on information more accurately.
On the other hand, as it has been described above, carrying out the result of additional auxiliary torque with recoil torque value, if in side
To hair updo life back attack phenomenon based on actual recoil amount, then can be sent out by the indicator for displaying being arranged at vehicle
Raw actual recoil amount.Here, indicator can be to be arranged at audio frequency and video navigation (AVN) of vehicle
System, can be in the assembly in the front being positioned at driver's seat, it is also possible to for the recoil additionally arranged
Display dedicated display.
Referring to the drawings (especially, Fig. 7), the present invention's that brief description is constituted in the manner
CCD camera assembly linkage steering wheel for vehicle recoil reduces the work process of device.
First, if vehicle forwards travels, then start CCD camera assembly 100.If startup CCD camera assembly
100, then pair of lens 105A, 105B gather the light being present in focal length simultaneously so that image sensing
Device generates image the most simultaneously, and utilizes the image processing board image to being generated to carry out image processing.
Now, in the case of the present invention, use three-dimensional CCD camera assembly 100, and can be to from shooting
Barrier in the image that head assembly 100 photographs obtains three-dimensional state information the most accurately.
Afterwards, in the case of barrier being detected in the road surface image obtained by CCD camera assembly 100,
Analyzing three-dimensional status information, in the case of being not detected by barrier, makes CCD camera assembly 100 work,
CCD camera assembly 100 is made persistently to obtain the road surface image of the travel direction to the vehicle 1 in travelling.
If complete the three-dimensional state information analysis to barrier, then distinguish and detected by torque sensor
Steering torque is the normal direction of rotation of normal direction of rotation based on human pilot operation, or sends out because of back attack phenomenon
The situation of raw recoil steering torque caused by moment of torsion, and, control the work of steer motor 30,
In the case of causing steering torque because of normal direction of rotation situation, drive turning of being caused by normal direction of rotation
The auxiliary torque taken into account to torque value, is turning to situation to cause the situation of steering torque because of recoil
Under, drive the auxiliary torque of reply recoil torque value.
Now, if being judged as because the normal direction of rotation operation of human pilot makes any one in two tires all
In the case of not breaking the barriers, it is not necessary to drive other auxiliary torque, thus based on the present invention take the photograph
As the control of head assembly linkage steering wheel for vehicle back attack phenomenon control method will terminate.
Above, the CCD camera assembly linkage steering wheel for vehicle recoil fall of the present invention has been explained in detail with reference to the accompanying drawings
Low method and preferably one embodiment of control method thereof.But, embodiments of the invention be not limited to as
Upper preferably one described embodiment, can be by general technical staff of the technical field of the invention to the present invention
Carrying out implementing the present invention in the range of various deformation and equivalent, this is apparent from.Therefore, this
Bright real scope should claim scope according to invention described later and define.
Claims (23)
1. a CCD camera assembly linkage steering wheel for vehicle recoil reduces device, it is characterised in that
Including:
Information of road surface collector unit, for joining by the way of with the front part of the travel direction of shooting vehicle
Obstacle on the mobile route of the left and right tire that the CCD camera assembly being placed in windshield collects above-mentioned vehicle
The information of thing, the information of above-mentioned barrier comprises whether there is barrier, the kind of above-mentioned barrier and big
Little information；And
Recoil reduces unit, for according to the above-mentioned barrier collected by above-mentioned information of road surface collector unit
Information, provides auxiliary torque to the steering wheel being arranged at above-mentioned vehicle,
Above-mentioned information of road surface collector unit by being arranged at the pair of lens of vehicle in mode spaced apart from each other
Shoot above-mentioned barrier simultaneously, obtain information and the three-dimensional state information of above-mentioned barrier.
CCD camera assembly the most according to claim 1 linkage steering wheel for vehicle recoil reduces device,
It is characterized in that, above-mentioned CCD camera assembly the above-mentioned barrier detected includes that the lower section to above-mentioned road surface is recessed
The pit-hole that falls into, there is the puddle of the state of water, prominent and identical to the top on above-mentioned road surface in above-mentioned pit-hole
Deceleration strip that left and right in lane line is the most different and being formed on identical driving path and above-mentioned road surface
The different irregular road surface of height.
CCD camera assembly the most according to claim 1 linkage steering wheel for vehicle recoil reduces device,
It is characterized in that, also include:
Recoil expected cell, directly travels at above-mentioned vehicle and is collected barrier by above-mentioned information of road surface collector unit
In the case of hindering the road surface ahead of information of thing, it may be judged whether the back attack phenomenon of steering wheel occurs；And
Recoil torque value determines unit, above-mentioned recoil expected cell be judged as occurring the feelings of back attack phenomenon
Under condition, determine and carry out the recoil torque value to steering wheel transmission by estimated recoil.
CCD camera assembly the most according to claim 3 linkage steering wheel for vehicle recoil reduces device,
It is characterized in that, above-mentioned recoil reduces unit according to the above-mentioned barrier collected by above-mentioned information of road surface collector unit
Hinder the information of thing to respond above-mentioned recoil torque value, thus supplied to above-mentioned steering wheel by human pilot
Auxiliary torque is increased to above-mentioned steering wheel on steering torque.
CCD camera assembly the most according to claim 3 linkage steering wheel for vehicle recoil reduces device,
It is characterized in that, above-mentioned recoil reduce device with respond above-mentioned barrier with travel in vehicle separate away from
From mode come to above-mentioned steering wheel additional to be received, by above-mentioned information of road surface, the above-mentioned obstacle that unit is collected
Above-mentioned auxiliary torque based on the information of thing.
CCD camera assembly the most according to claim 3 linkage steering wheel for vehicle recoil reduces device,
It is characterized in that,
Also including torque sensor, above-mentioned torque sensor is for detecting by human pilot to above-mentioned steering wheel
The steering torque provided,
Control portion is by comparing the normal torque value detected by above-mentioned moment of torsion detection sensor and from
State the recoil torque value of the tire transmission travelled on barrier, distinguish normal direction of rotation situation and recoil turns to
Situation.
CCD camera assembly the most according to claim 1 linkage steering wheel for vehicle recoil reduces device,
It is characterized in that, above-mentioned recoil reduces unit and utilizes electric drive mode, hydraulic driving mode and gas-powered
One in mode, to provide above-mentioned auxiliary torque to above-mentioned steering wheel.
CCD camera assembly the most according to claim 3 linkage steering wheel for vehicle recoil reduces device,
It is characterized in that, above-mentioned recoil torque value determines that unit is above-mentioned according to detected by above-mentioned CCD camera assembly
The kind of barrier and the travel speed of above-mentioned vehicle differently determine above-mentioned recoil torque value.
9. a CCD camera assembly linkage steering wheel for vehicle recoil reduction method, it is characterised in that
Including:
Information of road surface collects step, is configured at by the way of with the front part of the travel direction of shooting vehicle
Barrier on the mobile route of the left and right tire that the CCD camera assembly of windshield collects above-mentioned vehicle
Information, the information of above-mentioned barrier comprises whether there is barrier, the kind of above-mentioned barrier and size letter
Breath；And
Recoil reduces step, according to the letter of the above-mentioned barrier collected in collecting step at above-mentioned information of road surface
Cease the steering wheel to being arranged at above-mentioned vehicle and auxiliary torque be provided,
Collect in step at above-mentioned information of road surface, by being arranged at a pair of vehicle in mode spaced apart from each other
Camera lens shoots above-mentioned barrier simultaneously, obtains information and the three-dimensional state information of above-mentioned barrier.
CCD camera assembly the most according to claim 9 linkage steering wheel for vehicle recoil reduction method,
It is characterized in that, after above-mentioned information of road surface collects step and before above-mentioned recoil reduces step, also
Including:
Recoil prediction step, directly travels at above-mentioned vehicle and collects collection step by above-mentioned information of road surface
In the case of the road surface ahead of the information of barrier, it may be judged whether the back attack phenomenon of steering wheel occurs；And
Recoil torque value determines step, is being judged as back attack phenomenon by above-mentioned recoil prediction step
In the case of, determine and carry out the recoil torque value to steering wheel transmission by estimated recoil.
11. CCD camera assembly according to claim 9 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, in above-mentioned recoil reduces step, collect according in collecting step at above-mentioned information of road surface
The information of above-mentioned barrier respond above-mentioned recoil torque value, thus by human pilot to above-mentioned direction
Auxiliary torque is increased to above-mentioned steering wheel on the steering torque of dish supply.
12. CCD camera assembly according to claim 9 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, in above-mentioned recoil reduces step, with the vehicle in responding above-mentioned barrier and travelling
Mode separated by a distance is come to above-mentioned steering wheel additional with collection in above-mentioned information of road surface receiving step
Above-mentioned auxiliary torque based on the information of above-mentioned barrier.
13. CCD camera assembly according to claim 9 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, above-mentioned information of road surface collect step be by mode spaced apart from each other along the left side of vehicle
Right direction is arranged at the pair of lens of above-mentioned CCD camera assembly and shoots the identical barrier being positioned at above-mentioned road surface simultaneously
Hinder thing, thus in the way of three-dimensional, obtain the step of the status information of above-mentioned barrier.
14. CCD camera assembly according to claim 9 linkage steering wheel for vehicle recoil reduction method,
It is characterized in that,
Also include moment of torsion detecting step, the steering torque provided to above-mentioned steering wheel by human pilot be provided,
Above-mentioned control portion by compare the normal torque value detected in above-mentioned moment of torsion detecting step and from
The recoil torque value of the tire transmission travelled on above-mentioned barrier, distinguishes normal direction of rotation situation and recoil
Turn to situation.
15. CCD camera assembly according to claim 14 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, above-mentioned recoil prediction step includes:
Judge whether the pattern of barrier, from the above-mentioned road surface shape detected by above-mentioned CCD camera assembly
State judges whether above-mentioned barrier；And
Judge back attack phenomenon pattern, if being judged as depositing by the above-mentioned pattern judging whether barrier
At above-mentioned barrier, then judge whether to cause back attack phenomenon because of above-mentioned barrier to above-mentioned steering wheel.
16. CCD camera assembly according to claim 15 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, in above-mentioned judgement back attack phenomenon pattern, kind and size according to barrier are more logical
Information and the information set of crossing the above-mentioned barrier that above-mentioned CCD camera assembly obtains judge.
17. CCD camera assembly according to claim 10 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, determine in step at above-mentioned recoil torque value, detect according to by above-mentioned CCD camera assembly
The kind of above-mentioned barrier and the travel speed of above-mentioned vehicle differently determine above-mentioned recoil torque value.
18. CCD camera assembly according to claim 10 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, after above-mentioned recoil reduces step, also include that correcting recoil value determines and storing step,
Determine and in storing step in above-mentioned correction recoil value, determine with basis with true by above-mentioned recoil torque value
Determine the above-mentioned recoil torque value that step determines and betide above-mentioned side to add the result of above-mentioned auxiliary torque
The correction recoil value that compares to the actual recoil amount of dish also stores.
19. CCD camera assembly according to claim 18 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, the above-mentioned correction recoil value determined in the calculating of above-mentioned correction recoil value and storing step is
By the kind of barrier and size, the speed of above-mentioned vehicle and add on the basis weight of above-mentioned vehicle
The value taken into account of additional weight.
20. CCD camera assembly according to claim 19 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, above-mentioned correction recoil value is used as above-mentioned setting of above-mentioned judgement back attack phenomenon pattern
Information.
21. CCD camera assembly according to claim 18 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, adding the result of above-mentioned auxiliary torque with above-mentioned recoil torque value, if above-mentioned side
To the raw actual recoil amount of hair updo, then the indicator for displaying by being arranged at above-mentioned vehicle occurs above-mentioned reality anti-
Momentum.
22. CCD camera assembly according to claim 9 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, in above-mentioned recoil reduces step, utilize electric drive mode, hydraulic driving mode and gas
One in body type of drive, to provide above-mentioned auxiliary torque to above-mentioned steering wheel.
23. CCD camera assembly according to claim 19 linkage steering wheel for vehicle recoil reduction methods,
It is characterized in that, after the above-mentioned correction recoil value of storage, recoil value will be used as.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2015-0010640 | 2015-01-22 | ||
| KR1020150010640A KR101858697B1 (en) | 2015-01-22 | 2015-01-22 | Apparatus to protect Kickback of Steering handle linking camera module for vehicle and Control method for the same as |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106184346A true CN106184346A (en) | 2016-12-07 |
| CN106184346B CN106184346B (en) | 2019-07-02 |
Family
ID=56417305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510441166.1A Expired - Fee Related CN106184346B (en) | 2015-01-22 | 2015-07-24 | CCD camera assembly linkage steering wheel for vehicle recoil reduces device and its control method |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR101858697B1 (en) |
| CN (1) | CN106184346B (en) |
| WO (1) | WO2016117806A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229105A (en) * | 2017-06-27 | 2019-01-18 | 奥迪股份公司 | Driving assistance system and method |
| US20190276074A1 (en) * | 2018-03-06 | 2019-09-12 | Ford Global Technologies, Llc | Apparatus and methods to adjust for steering kickback |
| CN112339750A (en) * | 2019-08-08 | 2021-02-09 | 奥迪股份公司 | Vehicle detection method, device, computer equipment and storage medium |
| CN114008408A (en) * | 2019-04-23 | 2022-02-01 | 谷歌有限责任公司 | Generating surface maps to improve navigation |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10435072B2 (en) | 2017-03-17 | 2019-10-08 | Ford Global Technologies, Llc | Road camber compensation |
| KR102370908B1 (en) | 2017-07-03 | 2022-03-07 | 현대자동차주식회사 | Smart Cruse Method using Road Surface Adaptability and Advance Smart Cruse System thereby |
| CN109850009B (en) * | 2019-02-25 | 2021-09-17 | 南京航空航天大学 | Automobile steer-by-wire system integrating visual identification technology and control method thereof |
| CN116567375B (en) * | 2023-04-24 | 2024-02-02 | 禾多科技（北京）有限公司 | Vehicle-mounted front-view camera all-in-one machine, vehicle and vehicle speed control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3660011B2 (en) * | 1995-03-24 | 2005-06-15 | 本田技研工業株式会社 | Vehicle steering control device |
| KR20100020677A (en) * | 2008-08-13 | 2010-02-23 | 주식회사 만도 | Method and apparatus for steering force according to road surface state |
| JP4577641B2 (en) * | 2004-02-16 | 2010-11-10 | 株式会社デンソー | Driving support device |
| KR101030211B1 (en) * | 2010-01-07 | 2011-04-22 | 쓰리에이치비젼주식회사 | System and method for detecting road and object |
| CN102706880A (en) * | 2012-06-26 | 2012-10-03 | 哈尔滨工业大学 | Road information extraction device based on two-dimensional image and depth information and road crack information detection method based on same |
| CN103108795A (en) * | 2010-09-17 | 2013-05-15 | 丰田自动车株式会社 | Steering apparatus, and kickback determination apparatus |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5863354B2 (en) * | 2011-09-20 | 2016-02-16 | 富士重工業株式会社 | Vehicle power steering control device |
-
2015
- 2015-01-22 KR KR1020150010640A patent/KR101858697B1/en active IP Right Grant
- 2015-07-24 CN CN201510441166.1A patent/CN106184346B/en not_active Expired - Fee Related
- 2015-11-02 WO PCT/KR2015/011660 patent/WO2016117806A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3660011B2 (en) * | 1995-03-24 | 2005-06-15 | 本田技研工業株式会社 | Vehicle steering control device |
| JP4577641B2 (en) * | 2004-02-16 | 2010-11-10 | 株式会社デンソー | Driving support device |
| KR20100020677A (en) * | 2008-08-13 | 2010-02-23 | 주식회사 만도 | Method and apparatus for steering force according to road surface state |
| KR101030211B1 (en) * | 2010-01-07 | 2011-04-22 | 쓰리에이치비젼주식회사 | System and method for detecting road and object |
| CN103108795A (en) * | 2010-09-17 | 2013-05-15 | 丰田自动车株式会社 | Steering apparatus, and kickback determination apparatus |
| CN102706880A (en) * | 2012-06-26 | 2012-10-03 | 哈尔滨工业大学 | Road information extraction device based on two-dimensional image and depth information and road crack information detection method based on same |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229105A (en) * | 2017-06-27 | 2019-01-18 | 奥迪股份公司 | Driving assistance system and method |
| US20190276074A1 (en) * | 2018-03-06 | 2019-09-12 | Ford Global Technologies, Llc | Apparatus and methods to adjust for steering kickback |
| CN114008408A (en) * | 2019-04-23 | 2022-02-01 | 谷歌有限责任公司 | Generating surface maps to improve navigation |
| CN112339750A (en) * | 2019-08-08 | 2021-02-09 | 奥迪股份公司 | Vehicle detection method, device, computer equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106184346B (en) | 2019-07-02 |
| WO2016117806A1 (en) | 2016-07-28 |
| KR101858697B1 (en) | 2018-05-16 |
| KR20160090621A (en) | 2016-08-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106184346A (en) | CCD camera assembly linkage steering wheel for vehicle recoil reduces device and control method thereof | |
| US10818180B2 (en) | Parking support device | |
| CN202686359U (en) | Narrow road detection device | |
| CN104812646B (en) | Vehicle is with accelerating restraining device | |
| CN110103967B (en) | Automatic lane changing method for vehicle, vehicle control system and vehicle | |
| JP4432930B2 (en) | Parking assistance device and parking assistance method | |
| CN103797530B (en) | Vehicle periphery monitoring device | |
| CN104724125B (en) | Controller of vehicle | |
| CN108928343A (en) | A kind of panorama fusion automated parking system and method | |
| US9540000B2 (en) | Acceleration suppression device for vehicle, and acceleration suppression method for vehicle | |
| JP4811154B2 (en) | Vehicle traveling device | |
| US20160187880A1 (en) | Driving control system and dynamic decision control method thereof | |
| CN105492280B (en) | Vehicle control system | |
| JP5146243B2 (en) | Lane departure control device | |
| JP2012123495A (en) | Traveling environment recognition device | |
| CN103303235A (en) | Vehicle periphery monitoring apparatus | |
| JP6983127B2 (en) | Driving force control device | |
| JP7073880B2 (en) | Career decision device | |
| CN110293955A (en) | A kind of U-shaped control system and the method for turning around automatically in automatic Pilot | |
| EP2762892B1 (en) | Vehicle speed calculator | |
| CN110194145A (en) | Controller of vehicle, control method for vehicle and storage medium | |
| CN108226931A (en) | A kind of vehicle traveling detection system for obstacle and control method | |
| CN105564315B (en) | Method and device for displaying vehicle image and road surface image in combination | |
| JP4940706B2 (en) | Object detection device | |
| JP7221332B2 (en) | Vehicle running control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190702 Termination date: 20210724 |