CN106671824A - Electric vehicle control method - Google Patents
Electric vehicle control method Download PDFInfo
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- CN106671824A CN106671824A CN201710138470.8A CN201710138470A CN106671824A CN 106671824 A CN106671824 A CN 106671824A CN 201710138470 A CN201710138470 A CN 201710138470A CN 106671824 A CN106671824 A CN 106671824A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000000979 retarding effect Effects 0.000 claims description 17
- 238000011897 real-time detection Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 5
- 230000002085 persistent effect Effects 0.000 claims description 4
- 238000012795 verification Methods 0.000 claims description 4
- 206010039203 Road traffic accident Diseases 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 description 5
- 230000006399 behavior Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 1
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- 208000024756 faint Diseases 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/10—Driver interactions by alarm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/20—Driver interactions by driver identification
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/22—Driver interactions by presence detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/30—Driver interactions by voice
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an electric vehicle control method. The electric vehicle control method comprises the following steps of first detecting pressures acting on the left and right sides of a seat cushion; according to the pressures on the two sides and a vehicle running status, calculating theoretical pressure values acting on the left and right sides of the seat cushion when a driver corrects the sitting posture; comparing the detected pressures with the calculated theoretical pressure values to obtain ratio values between the differences and the theoretical pressure values; judging whether the ratio values are larger than a set value or not; and when the ratio values are larger than the set value, judging that the driver is in a sitting posture skewed state; and enabling a vehicle controller to control an alarm to send an alarm signal so as to prompt the driver. The electric vehicle control method is advantaged in that whether the driver is in a risky driving behavior state or not or whether the driver loses control of a vehicle due to physical reasons or not can be judged in advance so as to prompt the driver in time or actively intervene in the vehicle running state; therefore, the vehicle running safety is enhanced, the occurring probability of traffic accidents is reduced and so on.
Description
Technical field
The present invention relates to electric automobile security technology area, in particular to a kind of entire electric car control method.
Background technology
The traffic safety of motor vehicles is always one of various circles of society's focus of attention.Motor vehicles are caused security incident occur
Main cause, in addition to motor vehicles are broken down in itself, operator error is topmost factor.Particularly, Jing Guochang
The technology development of phase, the machinery of motor vehicles, electrical quality and road safety facility are increasingly perfect；Therefore, non-artificial factor is led
The ratio that security incident occur in cause motor vehicles is more and more lower, and due to traffic safety thing caused by human pilot operational error
Therefore ratio constantly in rise trend.
The operational error of driver is divided into subjective and objectively two kinds, and subjective bad driving habit easily causes behaviour
Slip up, such as take and be placed on the article in copilot region or pick up the article dropped on floor, can cause to fall,
The control to steering wheel is affected, once there are multiple major traffic accidents thus to cause；Make a phone call when such as driving again, send short messages or chat
Wechat, long-time one-handed performance steering wheel cause vehicle accident.Objectively it is mainly burst disease so that driver faints,
Volt is lain down on the steering wheel or to side, so as to lose the control to vehicle.
The content of the invention
For above-mentioned the deficiencies in the prior art, the technical problem to be solved is：How a kind of electronic vapour is provided
Car control method of finished, for monitoring the sitting posture of driver, judge in advance driver whether for bad steering behavior state or
Because physical reason is out of hand to vehicle, in time driver is reminded, or pro-active intervention is carried out to vehicle running state, carried
The safety of high vehicle traveling, reduces the probability that vehicle accident occurs.
In order to solve above-mentioned technical problem, following technical scheme is present invention employs：
A kind of entire electric car control method, it is characterised in that comprise the steps：
A, the electric automobile whole-control system for obtaining following structure, including the entire car controller of electric automobile, left and right are right
Two first pressure sensors being arranged on claiming at the medicated cushion of driver seat, and for the siren of signal an alert；
Two first pressure sensors and siren are connected to the entire car controller；The entire car controller include for
The theoretical pressure computing module of the theoretical pressure value on two first pressure sensors is acted on when calculating normal driving, with
And the real-time pressure for two first pressure sensors are detected is compared with corresponding theoretical pressure value respectively
Multilevel iudge module；
B, when specifically controlling, two first pressure sensors are by the pressure F for detecting1aAnd F1bSend into full-vehicle control
In device, and by theoretical pressure computing module according to the pressure of medicated cushion both sides and (F1a+F1b), and the situation of vehicle traveling, meter
Theoretical pressure value F of the medicated cushion left and right sides is acted on when calculating driver end right sitting position2aAnd F2b；
The pressure of two first pressure sensor real-time detections is sent into calculated theoretical pressure value and is compared
In judge module, pressure with the absolute value of the difference of the corresponding theoretical pressure value reasonable opinion pressure value of real-time detection is calculated respectively
Ratio, i.e.,：
With
Above-mentioned two ratio value is compared with default value respectively, when one of them is more than preset value, is then judged
Sitting posture askew status are in for driver, vehicle control unit controls siren is reminded to driver to signal an alert.
Further, in step a, the electric automobile whole-control system is also included for measuring real-time speed
Vehicle speed sensor, the vehicle speed sensor are connected to the entire car controller；Before step b is performed, the car is first obtained
The GES of fast sensor, when the speed for detecting is less than setting value, judges vehicle in dead ship condition, and time-out continues to hold
Row step b, when the speed for detecting is higher than setting value, judges that vehicle, in transport condition, continues executing with step b.
Further, in step a, the electric automobile whole-control system is also included installed in two front-wheel axle center
The second pressure sensor of position, two second pressure sensors are connected to the entire car controller, the full-vehicle control
Device also includes the theoretical pressure compensating module of the ratio of the real-time pressure for two second sensors of calculating, the theory
The result of calculation of pressure compensation module is transmitted to the theoretical pressure computing module, for what is calculated to theoretical pressure computing module
Theoretical pressure compensates correction；In step b, the theory of the medicated cushion left and right sides is acted on when to driver end right sitting position
Before pressure value is calculated, entire car controller first obtains the pressure F that two second pressure sensors are detected3aAnd F3b, so
It is calculated theoretical pressure value F of the medicated cushion left and right sides afterwards according to below equation2aAnd F2b：
F2a/F2b=F3a/F3b
F2a+F2b=F1a+F1b。
Further, in step a, the electric automobile whole-control system also includes electric boosting steering system,
The electronic control unit of the electric boosting steering system is connected to the entire car controller, and the entire car controller also includes using
The power-assisted compensating module that the power-assisted value exported in the electric boosting steering system is compensated, the power-assisted compensating module
Input is connected to the outfan of the multilevel iudge module, and the outfan of the power-assisted compensating module is connected to described electronic help
The electronic control unit of power steering；In step b, when in two ratio values is more than preset value, it is judged as
Driver is in sitting posture askew status, and the power-assisted compensating module in entire car controller deducts the larger ratio value by 100% and makees
For the offset of electric boosting steering system, the power-assisted value exported to the electric boosting steering system is compensated.
Further, in step a, the entire car controller is also included for being judged as the crooked shape of driver's body
Timing module that the persistent period of state is recorded and be connected with entire car controller for controlling the pool that keeps to the side after vehicle deceleration
The automatic retarding parking system of car, the automatic retarding shutdown system include the three-dimensional for being identified to the cut-off rule in track
Panoramic looking-around module, the automatic control module for controlling vehicle deceleration and steering and the spacing for detecting vehicle periphery
With the millimetre-wave radar sensing module of curb；In step b, when in two ratio values is more than preset value, it is judged as
When driver is in sitting posture askew status, timing module starts timing, when accumulated time is more than setting value, then judges driver
May be out of hand to vehicle, start automatic retarding parking system, vehicle periphery is detected by millimetre-wave radar sensing module
Vehicle and spacing, and the lane line that module recognizes vehicle periphery is looked around by three-dimensional panorama, finally by automatic control module
Control vehicle deceleration, opens steering indicating light and Emergency Vehicle Lane is sailed in steering into, after millimetre-wave radar sensing module detects curb
Stop, and opened by vehicle control unit controls emergency light, complete automatic parking.
Further, in step a, the entire car controller also includes voice module, and the voice module includes using
In the voice memory unit of memory of driving person's voice messaging, for the voice in the voice messaging that will receive and voice memory unit
Information carries out the identity authenticating unit of contrast verification identity, for instruction recognition unit that phonetic order content is identified with
And for the mike of recording；The voice module is additionally coupled to vehicle mounted multimedia sound box system；In step b, start certainly
Before dynamic deceleration parking system, inquiry is carried out to driver by vehicle mounted multimedia sound box system, and language is received by voice module
Message ceases, if be not received by voice messaging, directly initiates automatic retarding parking system；If receiving voice messaging, by language
Sound carries out contrast verification identity with the voice messaging in voice memory unit, if be verified as the voice of driver, in voice
Appearance is judged, cancels and start automatic retarding parking system；Otherwise, directly initiate automatic retarding parking system.
In sum, the present invention have can judge driver whether for bad steering behavior state or because of body in advance
Reason is out of hand to vehicle, and in time driver is reminded, or pro-active intervention is carried out to vehicle running state, improves vehicle
The advantages of safety of traveling, probability that reduction vehicle accident occurs.
Description of the drawings
Fig. 1 is a kind of principle schematic of the electric automobile whole-control system of employing inventive method.
Specific embodiment
The present invention is made into one with reference to the electric automobile whole-control system and its accompanying drawing of a kind of employing inventive method
The detailed description of step.
When being embodied as：As shown in figure 1, a kind of electric automobile safe driving assistant system, including the car load of electric automobile
Controller 1, two first pressure sensors 2 being symmetrically arranged at the medicated cushion of driver seat, and for sending police
The siren 4 of the number of notifying；Two first pressure sensors 2 and siren 4 are connected to the entire car controller 1；Institute
Stating entire car controller 1 is included for calculating the theoretical pressure acted on during normal driving on two first pressure sensors 2
The theoretical pressure computing module 11 of value, and the real-time pressure difference for two first pressure sensors 2 are detected
The multilevel iudge module 12 being compared with corresponding theoretical pressure value.
During usual normal driving, the weight of driver can be distributed generally evenly in the medicated cushion both sides of driver seat, once
Driver attempts to take when driving and is placed on the article in copilot region or picks up the article dropped on floor, the weight meeting of body
Toward the movement of copilot direction, so as to cause the pressure for acting on the medicated cushion left and right sides inconsistent.Using said apparatus, by arranging
Two first pressure sensors on the medicated cushion of driver seat, can obtain being applied to the real-time pressure at the medicated cushion left and right sides
Power, can also obtain the gross pressure acted on medicated cushion, weight of the theoretical pressure computing module according to driver during normal driving
Uniform feature calculates the theoretical pressure acted on the medicated cushion left and right sides with reference to gross pressure, then by multilevel iudge module
Real-time pressure detected by each first pressure sensor and respective theoretical pressure are compared, such that it is able to be used to sentence
Whether disconnected driver occurs taking the bad steering actions such as the article that is placed on that the article in copilot region or pick up drops on floor,
And sent a warning by the siren being connected with entire car controller, remind driver safety to drive.
During enforcement, also include that, for measuring the vehicle speed sensor 3 of real-time speed, the vehicle speed sensor 3 is connected to described
Entire car controller 1.
After car engine, driver may also need to adjust sitting posture and arrange driver's cabin, now occur that body is askew
The state such as oblique, by arranging vehicle speed sensor, such that it is able to judge that vehicle is to be in halted state in transport condition, from
And the system can be suspended in vehicle stop state, and be to start in vehicle running state.
During enforcement, also include the second pressure sensor 5 installed in two front-wheel shaft core positions, two second pressures
Sensor 5 is connected to the entire car controller 1, and the entire car controller 1 is also included for calculating two second sensors
Real-time pressure ratio theoretical pressure compensating module 13, the result of calculation of the theoretical pressure compensating module 13 transmitted to institute
Theoretical pressure computing module 11 is stated, for correction being compensated to the theoretical pressure that theoretical pressure computing module 11 is calculated.
In straight-line travelling, driver ensures sitting posture to vehicle, and the pressure for acting on medicated cushion both sides is uniformly distributed, theoretical pressure
The pressure sum that compensating module can be detected by two first pressure sensors obtains theoretical pressure value divided by 2.But,
In Ackermann steer angle, due to the effect of centrifugal force so that the center of gravity of human body is offset laterally, so as to cause the outer side position of medicated cushion
The pressure for being born is larger.Using said structure, by second pressure sensor is installed on two front-wheels, due to turning process
In, the center of gravity of car body also can outside side shifting, it is as such, it is possible to the pressure at two front-wheels is acted on when turning by car body, right
Driver acts on the pressure of the medicated cushion left and right sides and compensates, it is to avoid safe driving assistant system produces erroneous judgement when turning,
The stability of raising system.
During enforcement, also including electric boosting steering system 6, the electronic control unit of the electric boosting steering system 6 connects
The entire car controller 1 is connected to, the entire car controller 1 is also included for helping that the electric boosting steering system 6 is exported
The power-assisted compensating module 14 that force value is compensated, the input of the power-assisted compensating module 14 are connected to the multilevel iudge module
12 outfan, the outfan of the power-assisted compensating module 14 are connected to the Electronic Control list of the electric boosting steering system 6
Unit.
Electric boosting steering system is a kind of power steering system of direct dependence motor provided auxiliary moment of torsion, it will usually root
According to the difference of speed, the size of power-assisted value is adjusted, when speed is relatively low, increases power-assisted, be easy to operator steering wheel, in car
When speed is higher, reduce power-assisted, improve the handling of vehicle, it is to avoid out of control.Driver is in driving procedure, if attempting to take
It is placed on the article in copilot region or picks up the article dropped on floor, makes body skew occur, it is easy to cause singlehanded control
The change of dynamics, especially when running at high speed, slight direction change will result in serious accident.Using said structure,
After multilevel iudge module is by contrasting with the pressure value for detecting to theoretical pressure value, can be according to actual pressure value phase
Deviation size to theoretical pressure value, exports a corrected value to the electronic control unit of electric boosting steering system, electronic
Compensate in the original power-assisted value of servo steering system, when actual pressure value deviation is larger, subtract on the basis of former power-assisted value
The power-assisted value of little reality output.So, when the body of driver occurs crooked, can further reduce power-assisted value, increase
The difficulty of operator steering wheel, is conducive to improving safety.
During enforcement, the entire car controller 1 was also included for the persistent period to being judged as driver's body askew status
The timing module 15 for being recorded and parking for controlling to keep to the side after vehicle deceleration of being connected with entire car controller are subtracted automatically
Fast parking system 8, the automatic retarding shutdown system 8 are included for looking around to the three-dimensional panorama that the cut-off rule in track is identified
Module, the automatic control module for controlling vehicle deceleration and steering and for detecting the spacing and curb of vehicle periphery
Millimetre-wave radar sensing module.
Adopt said structure, once timing module accumulated time exceed setting value when, it can be determined that be driver because dash forward
Hair-like condition and manipulation ability is lost to vehicle, entire car controller can by automatic retarding parking system control vehicle deceleration pool
Car, during deceleration is parked, vehicle control unit controls steering indicating light is opened, and detects vehicle week by millimetre-wave radar sensing module
The vehicle for enclosing and spacing, and the lane line that module recognizes vehicle periphery is looked around by three-dimensional panorama, finally by automatically controlling
Module controls vehicle deceleration, and Emergency Vehicle Lane is sailed in steering into, stops after millimetre-wave radar sensing module detects curb, and
Opened by vehicle control unit controls emergency light.
During enforcement, the entire car controller 1 also includes voice module 17, and the voice module 17 is included for memory of driving
The voice memory unit of member's voice messaging is right for the voice messaging in the voice messaging of reception and voice memory unit is carried out
Identity authenticating unit than verifying identity, for the instruction recognition unit that is identified to phonetic order content and for recording
Mike；The voice module 17 is additionally coupled to vehicle mounted multimedia sound box system.
Using said structure, when system is judged as driver because of emergency situations to car according to the accumulated time of timing module
When losing manipulation ability, it is the stability for ensureing system operation, driver can be entered by vehicle mounted multimedia sound box system
Row inquiry, and driver's replying instruction is confirmed by voice module, it is to avoid system error in judgement.During operation, can be with root
Judged according to whether driver replys, when reply is not received, directly vehicle can be entered by automatic retarding parking system
Row control.When reply voice is received, first judge whether reply voice belongs to driver's voice, then voice content is sentenced
It is disconnected, so as to improve the accuracy of judgement.
During enforcement, also including auxiliary visual determination system 7, the auxiliary visual determination system 7 includes being arranged on front windshield
Photographic head at glass upper end, for the image processing module being identified to the human body contour outline in photographic head shooting image, in advance
There is an image storage module of human body maximum active area, and for judging human body that described image processing module is identified
The image judge module in the range of human body maximum active area that profile prestores in whether being located at described image memory module；Institute
State auxiliary visual determination system 7 and be connected to the entire car controller 1.
Using said apparatus, by aiding in, whether visual determination system is further crooked to human body sitting posture to judge, can
To improve the stability of system, it is to avoid erroneous judgement, the safety of system is improved.
When being embodied as, it is controlled using following method and step：After vehicle launch, entire car controller carries out self-inspection, obtains
After taking the GES of vehicle speed sensor, whether speed is judged more than setting value, if being less than setting value, judge vehicle in parking
State, is not further judged to driver's sitting posture；If being more than setting value, obtain two first pressure sensors and detected
To the pressure F for acting on all both sides of medicated cushion1aAnd F1b, and by theoretical pressure computing module according to the pressure of medicated cushion both sides
(F1a+F1b), and the situation of vehicle traveling, that is, obtain the pressure F detected by second pressure sensor3aAnd F3b, Ran Hougen
Theoretical pressure value F of the medicated cushion left and right sides is calculated according to below equation2aAnd F2b：
F2a/F2b=F3a/F3b
F2a+F2b=F1a+F1b。
Then the pressure of two first pressure sensor real-time detections is sent into calculated theoretical pressure value
In multilevel iudge module, pressure with the absolute value of the difference of the corresponding theoretical pressure value reasonable opinion pressure of real-time detection is calculated respectively
The ratio of force value, i.e.,：
With
Above-mentioned two ratio value is compared with default value respectively, when one of them is more than preset value, is then judged
Sitting posture askew status are in for driver, vehicle control unit controls siren is reminded to driver to signal an alert.
The larger ratio value is sent in power-assisted compensating module, the offset of calculating electric boosting steering system is：
Or
The power-assisted that above-mentioned offset is multiplied by electric boosting steering system is worth to revised power-assisted value to enter steering wheel
Row power-assisted is aided in.
Meanwhile, timing module carries out timing to the sitting posture askew status persistent period of driver, sets when the cumulative time is more than
During definite value, inquiry is carried out by vehicle mounted multimedia sound box system to driver, and voice messaging is received by voice module, when connecing
Voice is received, and when driver's voice is identified as by identity authenticating unit, is cancelled and started automatic retarding parking system；Otherwise,
Automatic retarding parking system is directly initiated, the vehicle and spacing of vehicle periphery are detected by millimetre-wave radar sensing module, and
The lane line that module recognizes vehicle periphery is looked around by three-dimensional panorama, vehicle deceleration is controlled finally by automatic control module, is beaten
Open steering indicating light and Emergency Vehicle Lane is sailed in steering into, stop after millimetre-wave radar sensing module detects curb, and pass through car load
Controller control emergency light is opened, and completes automatic parking.
When being embodied as, above-mentioned theory calculation of pressure module, multilevel iudge module, theoretical pressure compensating module, power-assisted are mended
Repay module to be realized by the hardware being integrated in entire car controller, or the software in write entire car controller is realized；
Timing module, first pressure sensor, siren, vehicle speed sensor, second pressure sensor, electric boosting steering system, from
Dynamic deceleration parking system (looking around module, automatic control module and millimetre-wave radar sensing module including three-dimensional panorama), voice mould
Block (including voice memory unit, identity authenticating unit, instruction recognition unit and mike), auxiliary visual determination system (include
Photographic head, image processing module, image storage module and image judge module) etc. each several part component itself be maturation it is existing
Technology, the present invention prior art is contributed where be that above-mentioned each part is arranged on into ad-hoc location, it is fixed to organically combine
Get up so as to can be used in judging whether the sitting posture of driver is rectified, identify the crooked state of driver's sitting posture, so as to realize
Driver is reminded, or driver behavior is interfered, improve the purpose of travel safety.
Presently preferred embodiments of the present invention is the foregoing is only, not with the present invention to limit, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (6)
1. a kind of entire electric car control method, it is characterised in that comprise the steps：
A, the electric automobile whole-control system for obtaining following structure, including the entire car controller of electric automobile, symmetrically
Two first pressure sensors being arranged at the medicated cushion of driver seat, and for the siren of signal an alert；Two
The first pressure sensor and siren are connected to the entire car controller；The entire car controller is included for calculating
The theoretical pressure computing module of the theoretical pressure value on two first pressure sensors, Yi Jiyong are acted on during normal driving
In the ratio that the real-time pressure for detecting two first pressure sensors is compared with corresponding theoretical pressure value respectively
Compared with judge module；
B, when specifically controlling, two first pressure sensors are by the pressure F for detecting1aAnd F1bSend in entire car controller,
And by theoretical pressure computing module according to the pressure of medicated cushion both sides and (F1a+F1b), and the situation of vehicle traveling, calculating drives
Theoretical pressure value F of the medicated cushion left and right sides is acted on during the person's of sailing sitting correction set2aAnd F2b；
The pressure of two first pressure sensor real-time detections is sent into into multilevel iudge with calculated theoretical pressure value
In module, the ratio of pressure with the absolute value of the difference of the corresponding theoretical pressure value reasonable opinion pressure value of real-time detection is calculated respectively
Example, i.e.,：
With
Above-mentioned two ratio value is compared with default value respectively, when one of them is more than preset value, then is judged as driving
The person of sailing is in sitting posture askew status, and vehicle control unit controls siren is reminded to driver to signal an alert.
2. entire electric car control method as claimed in claim 1, it is characterised in that in step a, the electronic vapour
Car whole-control system also includes that for measuring the vehicle speed sensor of real-time speed the vehicle speed sensor is connected to the car load
Controller；Before step b is performed, the GES of the vehicle speed sensor is first obtained, set when the speed for detecting is less than
During definite value, vehicle is judged in dead ship condition, time-out continues executing with step b, when the speed for detecting is higher than setting value, sentence
Disconnected vehicle is in transport condition, continues executing with step b.
3. entire electric car control method as claimed in claim 1, it is characterised in that in step a, the electronic vapour
Car whole-control system also includes the second pressure sensor installed in two front-wheel shaft core positions, and two second pressures are passed
Sensor is connected to the entire car controller, and the entire car controller is also included for calculating the real-time of two second sensors
The theoretical pressure compensating module of the ratio of pressure, the result of calculation of the theoretical pressure compensating module are transmitted to the theoretical pressure
Computing module, for compensating correction to the theoretical pressure that theoretical pressure computing module is calculated；In step b, to driving
Act on during the person's of sailing sitting correction set the medicated cushion left and right sides theoretical pressure value calculated before, entire car controller first obtains two institutes
State the pressure F that second pressure sensor is detected3aAnd F3b, the reason of the medicated cushion left and right sides is then calculated according to below equation
By pressure value F2aAnd F2b：
F2a/F2b=F3a/F3b
F2a+F2b=F1a+F1b。
4. entire electric car control method as claimed in claim 1, it is characterised in that in step a, the electronic vapour
Car whole-control system also includes electric boosting steering system, and the electronic control unit of the electric boosting steering system is connected to
The entire car controller, the entire car controller also include carrying out for the power-assisted value exported by the electric boosting steering system
The power-assisted compensating module of compensation, the input of the power-assisted compensating module are connected to the outfan of the multilevel iudge module, institute
The outfan for stating power-assisted compensating module is connected to the electronic control unit of the electric boosting steering system；In step b, when
When one in two ratio values is more than preset value, it is judged as driver in sitting posture askew status, helping in entire car controller
Force compensating module deducts the larger ratio value as the offset of electric boosting steering system using 100%, electronic helps to described
The power-assisted value exported by power steering is compensated.
5. entire electric car control method as claimed in claim 1, it is characterised in that in step a, the car load control
Device processed also include the timing module recorded for the persistent period to being judged as driver's body askew status and with it is whole
Vehicle controller connection for the automatic retarding parking system that controls to keep to the side to park after vehicle deceleration, the automatic retarding stops system
System includes for module is looked around to the three-dimensional panorama that the cut-off rule in track is identified, for controlling vehicle deceleration and steering
Automatic control module and the millimetre-wave radar sensing module for detecting the spacing and curb of vehicle periphery；In step b,
When in two ratio values is more than preset value, is judged as that driver is in sitting posture askew status, timing module starts meter
When, when accumulated time is more than setting value, then judging that driver may be out of hand to vehicle, startup automatic retarding is parked and is
System, detects the vehicle and spacing of vehicle periphery by millimetre-wave radar sensing module, and looks around module knowledge by three-dimensional panorama
The lane line of other vehicle periphery, controls vehicle deceleration finally by automatic control module, opens steering indicating light and steering is sailed into and answered
Anxious track, is stopped after millimetre-wave radar sensing module detects curb, and is opened by vehicle control unit controls emergency light, complete
Into automatic parking.
6. entire electric car control method as claimed in claim 5, it is characterised in that in step a, the car load control
Device processed also includes voice module, and the voice module includes the voice memory unit for memory of driving person's voice messaging, is used for
Voice messaging in the voice messaging of reception and voice memory unit is carried out into the identity authenticating unit of contrast verification identity, is used for
The instruction recognition unit is identified by phonetic order content and the mike for recording；The voice module is additionally coupled to
Vehicle mounted multimedia sound box system；In step b, before starting automatic retarding parking system, by vehicle mounted multimedia sound box system
Inquiry is carried out to driver, and voice messaging is received by voice module, if be not received by voice messaging, directly initiated certainly
Dynamic deceleration parking system；If receiving voice messaging, voice is carried out into contrast verification with the voice messaging in voice memory unit
Identity, if be verified as the voice of driver, judges to voice content, cancels and starts automatic retarding parking system；Otherwise,
Directly initiate automatic retarding parking system.
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| CN201710138470.8A CN106671824B (en) | 2017-03-09 | 2017-03-09 | A kind of entire electric car control method |
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| CN110155071A (en) * | 2019-05-31 | 2019-08-23 | 苏州蓝石新动力有限公司 | A kind of gesture recognition method, device and storage medium |
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| CN106671824B (en) | 2019-01-08 |
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