CN106671824B - A kind of entire electric car control method - Google Patents
A kind of entire electric car control method Download PDFInfo
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- CN106671824B CN106671824B CN201710138470.8A CN201710138470A CN106671824B CN 106671824 B CN106671824 B CN 106671824B CN 201710138470 A CN201710138470 A CN 201710138470A CN 106671824 B CN106671824 B CN 106671824B
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- 206010039203 Road traffic accident Diseases 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract 1
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- 230000006399 behavior Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
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- 239000011521 glass Substances 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
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- 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 a kind of entire electric car control methods, first detection acts on the pressure at left and right sides of cushion, and according to the pressure of two sides and and vehicle driving situation, the theoretical pressure value at left and right sides of cushion is acted on when calculating driver end right sitting position, the pressure that will test is compared with the theoretical pressure value being calculated, obtain the ratio value of the two difference and theoretical pressure value, judge whether the ratio value is greater than the set value, when being greater than the set value, it is judged as that driver is in sitting posture skew state, vehicle control unit controls alarm device reminds driver signal an alert.Whether the present invention has can judge driver for bad steering behavior state or because physical reason is out of hand to vehicle in advance, driver is reminded in time, or the advantages that pro-active intervention is carried out to vehicle running state, the safety of vehicle driving is improved, reduces the probability that traffic accident occurs.
Description
Technical field
The present invention relates to electric car security technology areas, in particular to a kind of entire electric car control method.
Background technique
The traffic safety of motor vehicle is always one of various circles of society's focus of attention.Motor vehicle is caused safety accident occur
Main cause, in addition to motor vehicle itself breaks down, driver's operation error is most important factor.In particular, through too long
The technology of phase develops, and the machinery of motor vehicle, electrical quality and road safety facility are improved day by day；Therefore, non-artificial factor is led
The ratio for causing motor vehicle safety accident occur is lower and lower, and the traffic safety thing as caused by driver's operation error
Therefore ratio be constantly in rising trend.
The operation error of driver is divided into subjective and objectively two kinds, and subjective undesirable driving habit be easy to cause behaviour
It makes mistakes, for example takes and be placed on the article in copilot region or pick up the article fallen on floor, will cause and fall,
The control to steering wheel is influenced, once there are multiple major traffic accidents thus to cause；It makes a phone call, send short messages or chats when for another example driving
Wechat, long-time one-handed performance steering wheel cause traffic accident.It is objectively mainly burst disease, so that driver faints,
Volt is lain down on the steering wheel or to side, to lose the control to vehicle.
Summary of the invention
In view of the above shortcomings of the prior art, the technical problems to be solved by the present invention are: how to provide a kind of electronic vapour
Vehicle 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, driver is reminded in time, or pro-active intervention is carried out to vehicle running state, is mentioned
The safety of high vehicle driving reduces the probability that traffic accident occurs.
In order to solve the above-mentioned technical problem, present invention employs the following technical solutions:
A kind of entire electric car control method, which comprises the steps of:
A, the electric automobile whole-control system such as flowering structure, the entire car controller including electric car, left and right pair are obtained
Claim ground that two first pressure sensors at the cushion of driver seat, and the alarm device for signal an alert are set；
Two first pressure sensors and alarm device are connected to the entire car controller；The entire car controller includes being used for
The theoretical pressure computing module of the theoretical pressure value in two first pressure sensors is acted on when calculating normal driving, with
And the real-time pressure for detecting two first pressure sensors is compared with corresponding theoretical pressure value respectively
Multilevel iudge module；
B, when specific control, pressure F that two first pressure sensors will test1aAnd F1bIt is sent into full-vehicle control
In device, and by theoretical pressure computing module according to the pressure and (F of cushion two sides1a+F1b) and vehicle driving situation, meter
The theoretical pressure value F at left and right sides of cushion is acted on when calculating driver end right sitting position2aAnd F2b；
Compared with the pressure of two first pressure sensor real-time detections is sent into the theoretical pressure value being calculated
In judgment module, the pressure for calculating separately real-time detection is reasonable by pressure value with the absolute value of the difference of corresponding theoretical pressure value
Ratio, it may be assumed that
With
Above-mentioned two ratio value is compared with preset value respectively, when one of them is greater than preset value, is then judged
It is in sitting posture skew state for driver, vehicle control unit controls alarm device reminds driver signal an alert.
Further, in the step a, the electric automobile whole-control system further includes for measuring real-time speed
Vehicle speed sensor, the vehicle speed sensor are connected to the entire car controller；Before executing the step b, the vehicle is first obtained
The speed signal of fast sensor judges that vehicle is in dead ship condition, pause continues to hold when the speed detected is lower than setting value
Row step b judges that vehicle is in driving status, continues to execute step b when the speed detected is higher than setting value.
Further, in the step a, the electric automobile whole-control system further includes being mounted on 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 further includes the theoretical pressure compensating module of the ratio for calculating the real-time pressure of two second sensors, the theory
The calculated result of pressure compensation module is transmitted to the theoretical pressure computing module, for what is calculated theoretical pressure computing module
Theoretical pressure compensates correction；In the step b, the theory at left and right sides of cushion 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 detect3aAnd F3b, so
The theoretical pressure value F at left and right sides of cushion is calculated according to following equation afterwards2aAnd F2b:
F2a/F2b=F3a/F3b
F2a+F2b=F1a+F1b。
Further, in the step a, the electric automobile whole-control system further 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 further includes using
In the power-assisted compensating module that the power-assisted value that the electric boosting steering system is exported compensates, the power-assisted compensating module
Input terminal is connected to the output end of the multilevel iudge module, and the output end of the power-assisted compensating module is connected to described electronic help
The electronic control unit of power steering system；In the step b, when one in two ratio values is greater than preset value, it is judged as
Driver is in sitting posture skew state, and the power-assisted compensating module in entire car controller subtracts the biggish ratio value for 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 the step a, the entire car controller further includes for being judged as driver's body skew shape
Timing module that the duration of state is recorded and connect with entire car controller for keeping to the side to moor after controlling vehicle deceleration
The automatic retarding parking system of vehicle, the automatic retarding shutdown system include the three-dimensional identified for the cut-off rule to lane
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 the step b, when one in two ratio values be greater than preset value, be judged as
When driver is in sitting posture skew state, timing module starts timing, when accumulated time is greater than the set value, then determines 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 identifies vehicle periphery is looked around by three-dimensional panorama, finally by automatic control module
Vehicle deceleration is controlled, turn signal is opened and turns to and drive into Emergency Vehicle Lane, after millimetre-wave radar sensing module detects curb
Parking, and opened by vehicle control unit controls emergency light, complete automatic parking.
Further, in the step a, the entire car controller further includes voice module, and the voice module includes using
In the voice memory unit of memory of driving person's voice messaging, for by the voice in received voice messaging and voice memory unit
Information compares the identity authenticating unit of verifying identity, instruction identification unit for being identified to phonetic order content with
And the microphone for recording；The voice module is additionally coupled to vehicle mounted multimedia sound box system；In the step b, starting is 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 breath, if be not received by voice messaging, directly initiates automatic retarding parking system；If receiving voice messaging, by language
Voice messaging in sound and voice memory unit compares verifying identity, if be verified as the voice of driver, in voice
Appearance is judged, starting automatic retarding parking system is cancelled；Otherwise, automatic retarding parking system is directly initiated.
Driver can be judged whether for bad steering behavior state or because of body in advance in conclusion the present invention has
Reason is out of hand to vehicle, reminds in time driver, or carries out pro-active intervention to vehicle running state, improves vehicle
The advantages that safety of traveling, the probability that reduction traffic accident occurs.
Detailed description of the invention
Fig. 1 is a kind of schematic illustration of electric automobile whole-control system using inventive method.
Specific embodiment
The present invention is made into one below with reference to a kind of electric automobile whole-control system using inventive method and its attached drawing
The detailed description of step.
When specific implementation: as shown in Figure 1, a kind of electric car safe driving assistant system, the vehicle including electric car
Two first pressure sensors 2 at the cushion of driver seat are symmetrically arranged in controller 1, and for issuing police
The alarm device 4 for the number of notifying；Two first pressure sensors 2 and alarm device 4 are connected to the entire car controller 1；Institute
State the theoretical pressure acted in two first pressure sensors 2 when entire car controller 1 includes for calculating normal driving
The theoretical pressure computing module 11 of value, and the real-time pressure difference for detecting two first pressure sensors 2
The multilevel iudge module 12 being compared with corresponding theoretical pressure value.
When usual normal driving, the weight of driver can be distributed generally evenly in the cushion two sides of driver seat, once
Driver, which attempts to take when driving, to be placed on the article in copilot region or picks up the article fallen on floor, the weight meeting of body
It is mobile toward copilot direction, so that the pressure for causing to act at left and right sides of cushion is inconsistent.Using above-mentioned apparatus, pass through setting
Two first pressure sensors on the cushion of driver seat, the available real-time pressure being applied at left and right sides of cushion
Power, can also obtain the gross pressure acted on cushion, and theoretical pressure computing module is according to the weight of driver when normal driving
Uniformly distributed feature combination gross pressure calculates the theoretical pressure acted at left and right sides of cushion, then by comparing judgment module
Real-time pressure detected by each first pressure sensor is compared with respective theoretical pressure, so as to for sentencing
Whether disconnected driver, which occurs taking being placed on the article in copilot region or picking up the bad steerings such as the article fallen on floor, acts,
And the alarm device by connecting with entire car controller sends a warning, and driver safety is reminded to drive.
It further include the vehicle speed sensor 3 for measuring real-time speed when implementation, 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, and it is askew to will appear body at this time
The states such as oblique, by the way that vehicle speed sensor is arranged, so as to judge that vehicle is to be in halted state in driving status, from
And the system can be suspended in vehicle stop state, and be starting in vehicle running state.
It further include the second pressure sensor 5 for being mounted on two front-wheel shaft core positions, two second pressures when implementation
Sensor 5 is connected to the entire car controller 1, and the entire car controller 1 further includes for calculating two second sensors
Real-time pressure ratio theoretical pressure compensating module 13, the calculated result of the theoretical pressure compensating module 13 is transmitted to institute
Theoretical pressure computing module 11 is stated, the theoretical pressure for calculating theoretical pressure computing module 11 compensates correction.
For vehicle in straight-line travelling, driver guarantees sitting posture, and the pressure for acting on cushion two sides is uniformly distributed, theoretical pressure
The sum of pressure 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 deviates outward, to cause the outer side position of cushion
The pressure born is larger.Using the above structure, by installing second pressure sensor on two front-wheels, due to process of turning
In, the center of gravity of car body can also move outward, and the pressure at two front-wheels is acted on when in this way, can turn by car body, right
The pressure that driver acts at left and right sides of cushion compensates, and safe driving assistant system is avoided to generate erroneous judgement in turning,
The stability of raising system.
It further include electric boosting steering system 6 when implementation, the electronic control unit of the electric boosting steering system 6 connects
It is connected to the entire car controller 1, the entire car controller 1 further includes helping for what the electric boosting steering system 6 was exported
The power-assisted compensating module 14 that force value compensates, the input terminal of the power-assisted compensating module 14 are connected to the multilevel iudge module
12 output end, the output end of the power-assisted compensating module 14 are connected to the electronic control list of the electric boosting steering system 6
Member.
Electric boosting steering system is a kind of directly by the power steering system of motor offer auxiliary torque, it will usually root
According to the difference of speed, the size of power-assisted value is adjusted, when speed is lower, increases power-assisted, steering wheel is operated convenient for driver, in vehicle
When speed is higher, reduces power-assisted, improve the handling of vehicle, 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 fallen on floor, deviate body, it is easy to cause singlehanded control
The variation of dynamics, especially when running at high speed, slight direction change will result in serious accident.Using the above structure,
It, can be according to actual pressure value phase after multilevel iudge module is by comparing theoretical pressure value with the pressure value detected
To the deviation size of theoretical pressure value, a corrected value is exported to the electronic control unit of electric boosting steering system, electronic
It compensates in the original power-assisted value of servo steering system, when actual pressure value deviation is larger, subtracts on the basis of former power-assisted value
The power-assisted value of small reality output.In this way, power-assisted value can be further decreased when skew occurs in the body of driver, increase
Driver operates the difficulty of steering wheel, is conducive to improve safety.
When implementation, the entire car controller 1 further includes for the duration for being judged as driver's body skew state
The timing module 15 recorded and connect with entire car controller for controlling subtracting automatically of keeping to the side after vehicle deceleration to park
Fast parking system 8, the automatic retarding shutdown system 8 include looking around for the three-dimensional panorama that the cut-off rule to lane is identified
Module, the automatic control module for controlling vehicle deceleration and steering and the spacing for detecting vehicle periphery and curb
Millimetre-wave radar sensing module.
Using the above structure, when the accumulated time of timing module is more than setting value, it can be determined that be driver because prominent
Hair-like condition and manipulation ability lost to vehicle, entire car controller can pass through automatic retarding parking system and control vehicle deceleration pool
Vehicle, during deceleration is parked, vehicle control unit controls turn signal is opened, and detects vehicle week by millimetre-wave radar sensing module
The vehicle and spacing enclosed, and the lane line that module identifies vehicle periphery is looked around by three-dimensional panorama, finally by automatic control
Module controls vehicle deceleration, and turns to and drive into Emergency Vehicle Lane, stops after millimetre-wave radar sensing module detects curb, and
It is opened by vehicle control unit controls emergency light.
When implementation, the entire car controller 1 further includes voice module 17, and the voice module 17 includes being used for memory of driving
The voice memory unit of member's voice messaging, for carrying out pair the voice messaging in received voice messaging and voice memory unit
Than the identity authenticating unit for verifying identity, instruction identification unit for being identified to phonetic order content and for recording
Microphone；The voice module 17 is additionally coupled to vehicle mounted multimedia sound box system.
Using the above structure, when system is judged as driver due to emergency situations to vehicle according to the accumulated time of timing module
When losing manipulation ability, for the stability for guaranteeing system operation, can by vehicle mounted multimedia sound box system to driver into
Row inquiry, and driver's replying instruction is confirmed by voice module, avoid system error in judgement.When operation, Ke Yigen
Judge according to whether driver replys, when not receiving reply, can directly by automatic retarding parking system to vehicle into
Row control.When receiving reply voice, first judge whether reply voice belongs to driver's voice, then voice content is sentenced
It is disconnected, to improve the accuracy of judgement.
It further include auxiliary visual determination system 7 when implementation, the auxiliary visual determination system 7 includes being arranged in front windshield
Camera at glass upper end, the image processing module for being identified to the human body contour outline in camera shooting image, in advance
There is the image storage module of human body maximum active area, and the human body identified for judging described image processing module
Whether profile is located at the image judgment module in the range of the human body maximum active area prestored in described image memory module；Institute
It states auxiliary visual determination system 7 and is connected to the entire car controller 1.
Using above-mentioned apparatus, by auxiliary visual determination system, further to human body sitting posture, whether skew judges, can
It to improve the stability of system, avoids judging by accident, improves the safety of system.
When it is implemented, step is controlled with the following method: after vehicle launch, entire car controller carries out self-test, obtains
After taking the speed signal of vehicle speed sensor, judge whether speed is greater than the set value, if being less than setting value, determines that vehicle is in parking
State does not judge driver's sitting posture further；If more than setting value, obtains two first pressure sensors and detected
To the pressure F for acting on all two sides of cushion1aAnd F1b, and by theoretical pressure computing module according to the pressure of cushion two sides
(F1a+F1b) and vehicle driving situation, i.e., acquisition second pressure sensor detected by pressure F3aAnd F3b, then root
The theoretical pressure value F at left and right sides of cushion is calculated according to following equation2aAnd F2b:
F2a/F2b=F3a/F3b
F2a+F2b=F1a+F1b。
Then the pressure of two first pressure sensor real-time detections is sent into the theoretical pressure value being calculated
In multilevel iudge module, the pressure for calculating separately real-time detection is pressed with the reasonable opinion of the absolute value of the difference of corresponding theoretical pressure value
The ratio of force value, it may be assumed that
With
Above-mentioned two ratio value is compared with preset value respectively, when one of them is greater than preset value, is then judged
It is in sitting posture skew state for driver, vehicle control unit controls alarm device reminds driver signal an alert.
The biggish ratio value is sent into power-assisted compensating module, the offset of electric boosting steering system is calculated are as follows:
Or
By above-mentioned offset multiplied by the power-assisted value of electric boosting steering system obtain revised power-assisted value to steering wheel into
Row power-assisted auxiliary.
Meanwhile timing module carries out timing to the sitting posture skew state duration of driver, sets when the cumulative time is greater than
When definite value, inquiry is carried out to driver by vehicle mounted multimedia sound box system, and by voice module reception voice messaging, when connecing
When receiving voice, and being identified as driver's voice by identity authenticating unit, cancel starting 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 identifies vehicle periphery is looked around by three-dimensional panorama, vehicle deceleration is controlled finally by automatic control module, beats
It opens turn signal and turns to and drive into Emergency Vehicle Lane, stop after millimetre-wave radar sensing module detects curb, and pass through vehicle
Controller controls emergency light and opens, and completes automatic parking.
When it is implemented, above-mentioned theory calculation of pressure module, multilevel iudge module, theoretical pressure compensating module, power-assisted are mended
Repaying module can be by the hardware realization that is integrated in entire car controller, or the software realization in write-in entire car controller；
Timing module, first pressure sensor, alarm device, vehicle speed sensor, second pressure sensor, electric boosting steering system, from
Dynamic deceleration parking system (including three-dimensional panorama looks around module, automatic control module and millimetre-wave radar sensing module), voice mould
Block (including voice memory unit, identity authenticating unit, instruction identification unit and microphone), auxiliary visual determination system (including
Camera, image processing module, image storage module and image judgment module) etc. each sections component itself be mature existing
Technology, the present invention are above-mentioned each component setting in specific position, fixed combination the place that the prior art contributes
Get up, can be used to judge whether the sitting posture of driver to be rectified, the state of driver's sitting posture skew is identified, to realize
Driver is reminded, or driver behavior is interfered, improves the purpose of travel safety.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not limitation with the present invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (6)
1. a kind of entire electric car control method, which comprises the steps of:
A, the electric automobile whole-control system of acquisition such as flowering structure, the entire car controller including electric car, symmetrically
Two first pressure sensors at the cushion of driver seat, and the alarm device for signal an alert are set；Two
The first pressure sensor and alarm device are connected to the entire car controller；The entire car controller includes for calculating
The theoretical pressure computing module of the theoretical pressure value in two first pressure sensors, Yi Jiyong are acted on when normal driving
Respectively and the ratio that is compared of corresponding theoretical pressure value in the real-time pressure for detecting two first pressure sensors
Compared with judgment module；
B, when specific control, pressure F that two first pressure sensors will test1aAnd F1bIt is sent into entire car controller,
And by theoretical pressure computing module according to the pressure and (F of cushion two sides1a+F1b) and vehicle driving situation, calculating drives
The theoretical pressure value F at left and right sides of cushion is acted on when the person's of sailing sitting correction set2aAnd F2b；
The pressure of two first pressure sensor real-time detections is sent into multilevel iudge with the theoretical pressure value being calculated
In module, the pressure of real-time detection and the reasonable ratio by pressure value of the absolute value of the difference of corresponding theoretical pressure value are calculated separately
Example, it may be assumed that
Above-mentioned two ratio value is compared with preset value respectively, when one of them is greater than preset value, is then judged as and drives
The person of sailing is in sitting posture skew state, and vehicle control unit controls alarm device signal an alert reminds driver.
2. entire electric car control method as described in claim 1, which is characterized in that in the step a, the electronic vapour
Vehicle whole-control system further includes the vehicle speed sensor for measuring real-time speed, and the vehicle speed sensor is connected to the vehicle
Controller；Before executing the step b, the speed signal of the vehicle speed sensor is first obtained, is set when the speed detected is lower than
When definite value, judge that vehicle is in dead ship condition, pause continues to execute step b, when the speed detected is higher than setting value, sentences
Disconnected vehicle is in driving status, continues to execute step b.
3. entire electric car control method as described in claim 1, which is characterized in that in the step a, the electronic vapour
Vehicle whole-control system further includes the second pressure sensor for being mounted on two front-wheel shaft core positions, and two second pressures pass
Sensor is connected to the entire car controller, and the entire car controller further includes for calculating the real-time of two second sensors
The calculated result of the theoretical pressure compensating module of the ratio of pressure, the theoretical pressure compensating module is transmitted to the theoretical pressure
Computing module, the theoretical pressure for calculating theoretical pressure computing module compensate correction；In the step b, to driving
Before the theoretical pressure value acted at left and right sides of cushion when the person's of sailing sitting correction set is calculated, entire car controller first obtains two institutes
State the pressure F that second pressure sensor detects3aAnd F3b, the reason at left and right sides of cushion is then calculated according to following equation
By pressure value F2aAnd F2b:
F2a/F2b=F3a/F3b
F2a+F2b=F1a+F1b。
4. entire electric car control method as described in claim 1, which is characterized in that in the step a, the electronic vapour
Vehicle whole-control system further 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 further include that the power-assisted value exported for the electric boosting steering system carries out
The power-assisted compensating module of compensation, the input terminal of the power-assisted compensating module are connected to the output end of the multilevel iudge module, institute
The output end for stating power-assisted compensating module is connected to the electronic control unit of the electric boosting steering system；In the step b, when
One in two ratio values when being greater than preset value, is judged as that driver is in sitting posture skew state, helping in entire car controller
Force compensating module subtracts the biggish ratio value as the offset of electric boosting steering system for 100%, electronic helps to described
The power-assisted value that power steering system is exported compensates.
5. entire electric car control method as described in claim 1, which is characterized in that in the step a, the vehicle control
Device processed further include for be judged as timing module that the duration of driver's body skew state is recorded and with it is whole
Vehicle controller connection for controlling the automatic retarding parking system parked of keeping to the side after vehicle deceleration, the automatic retarding, which is parked, is
System includes module being looked around for the three-dimensional panorama that the cut-off rule to lane is identified, for controlling vehicle deceleration and steering
The millimetre-wave radar sensing module of automatic control module and spacing and curb for detecting vehicle periphery；In the step b,
When one in two ratio values is greater than preset value, when being judged as that driver is in sitting posture skew state, timing module starts to count
When, when accumulated time is greater than the set value, then determine that driver may be out of hand to vehicle, starting automatic retarding, which is parked, is
System is detected the vehicle and spacing of vehicle periphery by millimetre-wave radar sensing module, and looks around module by three-dimensional panorama and know
The lane line of other vehicle periphery controls vehicle deceleration finally by automatic control module, opens turn signal and turns to and drives into answering
Anxious lane is stopped after millimetre-wave radar sensing module detects curb, and is opened by vehicle control unit controls emergency light, complete
At automatic parking.
6. entire electric car control method as claimed in claim 5, which is characterized in that in the step a, the vehicle control
Device processed further includes voice module, and the voice module includes the voice memory unit for memory of driving person's voice messaging, is used for
The identity authenticating unit that voice messaging in received voice messaging and voice memory unit is compared to verifying identity, is used for
The instruction identification unit that identified to phonetic order content and for the microphone of recording；The voice module is additionally coupled to
Vehicle mounted multimedia sound box system；In the step b, before starting automatic retarding parking system, pass through 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, is directly initiated certainly
Dynamic deceleration parking system；If receiving voice messaging, the voice messaging in voice and voice memory unit is compared into verifying
If identity judges voice content be verified as the voice of driver, cancels starting automatic retarding parking system；Otherwise,
Directly initiate automatic retarding parking system.
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| CN108146386A (en) * | 2017-12-19 | 2018-06-12 | 轩辕翔颍 | Automobile anti-theft anti-robbery system based on biological detection |
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| CN203438860U (en) * | 2013-07-25 | 2014-02-19 | 长安大学 | Fatigue driving active monitoring system based on pressure sensor |
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| CN101246631A (en) * | 2008-02-29 | 2008-08-20 | 深圳市赛格导航科技股份有限公司 | Method and system for monitoring fatigue condition of drivers |
| JP2011164825A (en) * | 2010-02-08 | 2011-08-25 | Daihatsu Motor Co Ltd | Driving state determination apparatus |
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