CN106891890B - Automobile active anti-collision system - Google Patents

Automobile active anti-collision system Download PDF

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CN106891890B
CN106891890B CN201710235023.4A CN201710235023A CN106891890B CN 106891890 B CN106891890 B CN 106891890B CN 201710235023 A CN201710235023 A CN 201710235023A CN 106891890 B CN106891890 B CN 106891890B
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vehicle
collision
module
lane
automobile
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CN106891890A (en
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谢飞
张庆
孙维毅
赵洁
陈建华
王政军
鲍磊
王书博
周志超
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
    • B60R19/18—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact
    • B60R19/20—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact containing mainly gas or liquid, e.g. inflatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses an automobile active anti-collision system which can reduce and reduce the damage of sudden unavoidable collision accidents to automobile drivers. The system comprises a control module, a pretreatment module, an execution module, a buffer energy absorption module and a data acquisition module; the data acquisition module is used for acquiring road lane information, vehicle information, front and rear obstacle information and relative information of the vehicle and the front and rear obstacles on the road lane; the preprocessing module establishes a vehicle distribution model of the vehicle and the road lane in the current state according to the information obtained by the data acquisition module; the control module judges whether collision danger exists or not according to the data processed by the pre-processing module, grades the collision, and sends corresponding instructions to the execution module and the buffering energy absorption module aiming at different grades to reduce or avoid the collision; the execution module gives an alarm to a driver and controls the brake system and the steering system to execute corresponding operations; the buffering energy absorption module is an active ejecting and withdrawing device.

Description

Automobile active anti-collision system
Technical Field
The invention belongs to the field of automobile safety, and particularly relates to an automobile active anti-collision system and a protection device in an emergency collision situation.
Background
With the development of electronic technology and internet technology, modern automobiles are also developing in an intelligent direction. Unmanned vehicles have become the target of automotive workers. However, in the process of developing the ordinary automobile to the unmanned automobile, the intelligent auxiliary driving of the automobile is bound to exist for a long time, and the intelligent auxiliary driving of the automobile is used as the transition of the ordinary automobile to the unmanned automobile. The active collision avoidance of the automobile is the most important component in the intelligent auxiliary driving automobile. The safety control method is used for guaranteeing the safety of the unmanned automobile in the future.
With the increasing of automobile reserves in China, traffic accidents are increased year by year, and huge economic and property losses are caused to the society. According to the information system of road traffic accidents in China, 65% of the accidents are caused by rear-end collision of automobiles. Most of the results are caused by that the driver does not timely reflect and has no time to take action, and the active collision avoidance of the automobile is very important.
The active collision avoidance of the automobile is to give an alarm to a driver or an actuating mechanism actively takes braking and decelerating measures under the action of a controller before the automobile is about to collide so as to prevent the collision. However, the existing active collision avoidance system simply calculates whether there is a collision possibility by acquiring the speed and distance of the front vehicle relative to the host vehicle according to the sensor. When the relative distance and the relative speed have a large included angle, the collision judgment is inaccurate, and the influence of the acceleration of the front vehicle is ignored.
The active collision avoidance system of the automobile also needs a certain execution time, and when the automobile faces suddenly appearing obstacles, the active collision avoidance system can not avoid collision. Patent application for invention an automobile collision avoidance system (application No. 201510443395.7) can only react to an avoidable collision accident and cannot deal with a sudden collision. At present, no active collision avoidance system can reduce and reduce the damage of sudden unavoidable collision accidents to automobile drivers.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention designs a relatively comprehensive automobile active anti-collision system which can reduce and reduce the damage of sudden unavoidable collision accidents to automobile drivers.
An automobile active anti-collision system comprises a control module, a preprocessing module, an execution module, a buffering and energy absorbing module and a data acquisition module, wherein the preprocessing module, the execution module and the buffering and energy absorbing module are respectively in communication connection with the control module;
the data acquisition module is used for acquiring road lane information, vehicle information, front and rear obstacle information and relative information of the vehicle and the front and rear obstacles on the road lane;
the preprocessing module establishes a vehicle distribution model of the vehicle and the road lane in the current state according to the information obtained by the data acquisition module;
the control module judges whether collision danger exists or not according to the data processed by the pre-processing module, grades the collision according to the time required by the collision, and sends corresponding instructions to the execution module and the buffering energy absorption module aiming at different grades to reduce or avoid the collision;
the execution module gives an alarm to a driver or provides corresponding safe speed and a lane for turning of the driver, and simultaneously controls the braking system and the steering system to execute corresponding operations so as to reduce or avoid collision;
the buffering energy absorption module is an active ejecting and withdrawing device and is used for absorbing and buffering energy generated by collision when the collision cannot be avoided.
Furthermore, the data acquisition module comprises a millimeter wave radar, a lane line recognition device and a vehicle sensor;
the millimeter wave radar is arranged in the middle of the front grille of the automobile and used for detecting the distance, the speed and the acceleration of the front obstacle and the rear obstacle relative to the automobile and the azimuth angle relative to the automobile;
the lane line recognition devices are respectively arranged on two sides of the front part of the automobile and used for measuring the number of lanes on the road surface, the width of the lanes, the lanes where the automobile is located and the distance between the automobile and the lane lines on two sides of the automobile;
the vehicle sensor comprises an ABS-based wheel speed sensor and a positive pressure sensor arranged at the wheel, wherein the ABS wheel speed sensor is used for measuring the speed and the road surface adhesion coefficient of the vehicle, and the positive pressure sensor is used for measuring the positive pressure of the tire on the ground.
Further, the preprocessing module receives the data acquired by the data acquisition module, processes the data, and establishes a model of the road surface where the vehicle is located by combining the road surface lane line distribution condition acquired by the lane line recognition device and the determined position of the lane where the vehicle is located and the vehicle speed acquired by the wheel speed sensor; and then, converting the distance, the speed, the acceleration and the azimuth angle of the front obstacle and the rear obstacle relative to the vehicle, which are acquired by the millimeter wave radar, into a reference system by taking the road surface as the reference system, and fusing the reference system with a model of the road surface where the vehicle is located to obtain a vehicle distribution model of the vehicle and the road lane under the current state.
Further, the vehicle distribution model of the host vehicle and the road lane comprises: lane width B, lane where the vehicle and obstacle are located, distance A from the vehicle to the left lane line, and longitudinal speed V of the vehicley0The lateral speed V of the vehiclex0Longitudinal acceleration a of the vehicley0The lateral acceleration a of the vehiclex0The longitudinal distance Y between the vehicle and the target vehicleiAnd a lateral distance XiLongitudinal speed V of target vehicleyiTarget vehicle lateral velocity VxiTarget vehicle longitudinal acceleration ayiAnd the lateral acceleration a of the target vehiclexi。
The control module is used for receiving data information transmitted by the pre-processing module, the data information comprises a vehicle distribution model of the vehicle and a road lane, a road adhesion coefficient and a road positive pressure, the time required for collision is obtained by processing the data, the road state at the moment is divided into four states of safety, primary danger, secondary danger and inevitable collision according to the time required for collision, and meanwhile, when the vehicle is in the secondary danger state, the corresponding safe vehicle speed and the lane for the driver to change direction are calculated.
Further, the execution module comprises a voice execution module, a deceleration execution module, a braking execution module and a steering execution module;
the voice execution module is connected with the vehicle-mounted sound and has a priority use right in a sound bus, the voice execution module comprises two functions of function danger broadcasting and plan prompting, the danger broadcasting function is used for giving an alarm to a driver when the control module detects that collision is unavoidable, and the plan prompting function is used for providing a driver with a corresponding safe speed and a lane for turning when the automobile collision danger is primary danger;
the deceleration execution module receives the instruction from the control module, controls the engine, the clutch and the transmission, and controls the vehicle speed to be below a safe vehicle speed in cooperation with the brake execution module;
the brake execution module comprises an electric driving device which is arranged on the booster and forms a parallel relation with the brake pedal, receives an instruction from the control module, and controls the brake system and the deceleration execution module to cooperate with each other to control the vehicle speed below the safe vehicle speed;
the steering execution module receives the instruction from the control module, directly controls a motor in the steering booster, and realizes the active steering of the automobile, so that the collision in the lane is avoided.
Furthermore, the buffering energy-absorbing module comprises a collision contact element, a connecting rod, two torque hydraulic energy-absorbing devices for buffering torque, a connecting piece and two positive pressure hydraulic energy-absorbing devices for buffering positive pressure, wherein the connecting piece is connected with the collision contact element through a middle hinge, the two connecting rods are respectively connected to the two sides of the collision contact element through hinges, a piston part of each torque hydraulic energy-absorbing device is connected with one connecting rod through a hinge, an external cylinder part of each torque hydraulic energy-absorbing device is fixedly connected with the connecting piece, piston parts of the positive pressure hydraulic energy-absorbing devices on the two sides are fixedly connected with the connecting piece, and external cylinder parts of the positive pressure hydraulic energy-absorbing devices are fixedly connected with a front longitudinal.
Further, the torque hydraulic energy absorption device can be replaced by a torque pneumatic energy absorption device.
Further, the positive pressure hydraulic energy absorption device can be replaced by a positive pressure air pressure energy absorption device.
Compared with the prior art, the active anti-collision system has the following advantages:
firstly, the reference systems of the position, the speed and the acceleration of the vehicle and other vehicles are unified to a road reference system, and a real-time road lane vehicle distribution model is established, so that the collision prediction is more accurate, and the calculation of a controller is simpler, more convenient and faster;
secondly, the active buffering energy absorption device is combined with the active anti-collision system, so that the defect that the conventional active anti-collision system is insufficient in protecting vehicles and passengers in sudden collision accidents is overcome;
thirdly, the buffering energy absorption device can be recycled, and the phenomenon of blocking of the liquid (gas) pressure energy absorption device can be prevented when the automobile is not completely collided.
Drawings
FIG. 1 is a schematic structural diagram of an active collision avoidance system for a vehicle according to the present invention;
FIG. 2 is a diagram of a roadway lane vehicle distribution model of the present invention;
FIG. 3 is a schematic view of the structure of the energy absorption and buffering device of the present invention;
FIG. 4 is a flow chart of a control method of the active collision avoidance system of the present invention;
Detailed Description
The following embodiments are illustrative, but not limiting, of the present invention and the manner in which the system operates will be described in further detail by way of specific embodiments thereof, which are illustrated in the accompanying drawings.
As shown in fig. 1, the invention relates to an active collision avoidance system for an automobile, which comprises a preprocessing module, an execution module, a buffering and energy absorbing module and a data acquisition module, wherein the preprocessing module is connected with a control module, the data acquisition module is connected with the preprocessing module, and the data acquisition module comprises:
the data acquisition module comprises a millimeter wave radar, a lane line recognition device and a vehicle sensor;
the millimeter wave radar is arranged in the middle of the front grille of the automobile and used for detecting the distance, the speed and the acceleration of the front obstacle and the rear obstacle relative to the automobile and the azimuth angle relative to the automobile;
the lane line recognition devices are respectively arranged at two sides of the front part of the automobile (beside headlights) and used for measuring the number of lanes on the road surface, the width of the lanes, the lanes where the automobile is located and the distance between the automobile and the lane lines at two sides of the lane;
the vehicle sensor comprises an ABS-based wheel speed sensor and a positive pressure sensor arranged at the wheel, wherein the ABS wheel speed sensor is used for measuring the speed and the road surface adhesion coefficient of the vehicle, and the positive pressure sensor is used for measuring the positive pressure of the tire on the ground.
The preprocessing module receives data acquired by the data acquisition module and processes the data, a road surface lane line distribution condition acquired by a lane line recognition device and a determined position of a lane where the vehicle is located are combined with the vehicle speed of the vehicle acquired by an ABS (anti-lock braking system) wheel speed sensor, a model of the road surface where the vehicle is located can be established, a reference system is carried out on the distance, the speed, the acceleration and the azimuth angle of front and rear obstacles acquired by a millimeter wave radar relative to the vehicle to convert the distances, the speeds, the accelerations and the azimuth angles into a reference system by taking the road surface as a reference system, and the reference system is fused with the model of the road surface where the vehicle is located to obtain a vehicle;
the vehicle distribution model of the vehicle and the road lane is shown in fig. 2, which comprises lane width B, lane where the vehicle and the obstacle are located, lane line distance a between the vehicle and the left side, and longitudinal speed V of the vehicley0(speed in the direction of lane line), the lateral speed V of the vehiclex0(speed in the direction perpendicular to the lane line), the longitudinal acceleration a of the vehicley0The lateral acceleration a of the vehiclex0The longitudinal distance Y between the vehicle and the target vehicleiAnd a lateral distance XiLongitudinal speed V of target vehicleyiTransverse velocity VxiLongitudinal acceleration ayiAnd lateral acceleration axi。
The control module is used for receiving data information transmitted by the preprocessing module, and comprises a road surface lane vehicle distribution model, a road surface attachment coefficient and a road surface positive pressure, the time required by collision is obtained by processing the data, the road surface state at the moment is divided into four states of safety, primary danger, secondary danger and inevitable collision according to the length of the required collision time, and meanwhile, when the automobile is in the secondary danger state, the corresponding safe speed and a lane for a driver to change directions are calculated;
the safe state indicates that collision cannot occur in the current driving state, the primary dangerous state indicates that collision can occur in the current driving state, but the time from collision is within the time completely controllable by a driver, the secondary dangerous state indicates that collision can occur in the current driving state, the time from collision is short, collision is difficult to avoid by the operation of the driver, the inevitable collision state refers to the situation that when collision cannot be avoided, for example, an obstacle suddenly appears in front of the vehicle usually in an emergency state, and the operation time at the moment is lower than the time required by emergency braking of the vehicle.
The execution module receives an instruction from the control module and comprises a voice execution module, a deceleration execution module, a braking execution module and a steering execution module;
the voice execution module is connected with the vehicle-mounted sound and has priority use right in a sound bus, and the voice execution module comprises two functions: the method comprises the following steps that danger broadcasting and coping scheme prompting are carried out, wherein the danger broadcasting is used for giving an alarm to a driver when a control module detects that collision is unavoidable, and the coping scheme prompting is used for providing a corresponding safe speed and a lane for direction change for the driver when the automobile collision danger is primary danger;
the deceleration execution module receives an instruction from the control module, actively controls the engine, the clutch and the transmission, and controls the vehicle speed to be below a safe vehicle speed in cooperation with the brake execution module;
the brake execution module comprises an electric driving device which is arranged on the booster and forms a parallel relation with the brake pedal, receives an instruction from the control module, and actively controls the brake system and the deceleration execution module to cooperate with each other to control the vehicle speed below the safe vehicle speed;
the steering execution module receives the instruction from the control module to directly control the motor in the steering booster, so that the active steering of the automobile is realized, and the collision in the lane is avoided.
The buffering energy-absorbing module is an active ejecting and withdrawing device, is a recyclable liquid (gas) pressure buffering energy-absorbing member, and is used for absorbing and buffering energy generated by collision when collision cannot be avoided, so that the effect of protecting passengers and vehicles in the vehicle is achieved. The buffering energy-absorbing module is shown in figure 3 and comprises a collision contact part 3-1, a hinge 3-2, a connecting rod 3-3, two torque liquid (gas) pressure energy-absorbing devices 3-4 for buffering torque, a connecting piece 3-5 and two positive pressure liquid (gas) pressure energy-absorbing devices 3-6 for buffering positive pressure, wherein the connecting piece 3-5 is connected with the collision contact part 3-1 through a middle hinge, the two connecting rods 3-3 are respectively connected with the two sides of the collision contact part 301 through hinges, a piston part of each torque liquid (gas) pressure energy-absorbing device 3-4 is connected with one connecting rod 3-3 through a hinge, a cylinder part outside the torque liquid (gas) pressure energy-absorbing device 3-4 is fixedly connected with the connecting piece 3-5, the two cylinder parts do not move relatively, piston parts of the positive pressure liquid (gas) pressure energy-absorbing devices 3-6 on the two sides are fixedly connected with, the external cylinder body parts of the positive pressure liquid (gas) pressure energy absorption devices 3-6 are fixedly connected with the front longitudinal beam of the automobile chassis.
The working principle of the buffering energy-absorbing device is as follows, when an automobile collides, the force acting on the automobile can be simplified into acting force shown as a solid line in fig. 3, the acting force can be equivalent to force and torque shown as a dotted line in fig. 3, the contact part 3-1 rotates around the middle hinge under the action of the torque, one of the two torque liquid (gas) pressure energy-absorbing devices 3-4 is stretched, the other is compressed, the buffering energy-absorbing effect is achieved, under the action of the force shown by the dotted line, the contact part pushes the connection part to move along the longitudinal direction of the automobile through the hinge, and the positive pressure liquid (gas) pressure energy-absorbing device 3-6 completes the buffering energy-absorbing effect. The buffering energy absorber is added with a part for buffering and absorbing torque, so that the phenomenon of jamming of a hydraulic device can be effectively prevented when the vehicle is incompletely collided.
The control method of the automobile active anti-collision system comprises the following steps that a data acquisition module acquires corresponding data, a road lane vehicle distribution model is obtained through processing of a pre-processing module, a control module obtains time required by collision through calculation, whether collision danger exists or not is judged according to the time required by collision, monitoring is continued if no collision danger exists, if collision danger exists, the collision danger is judged, when the collision danger exists, a voice prompt is given that the collision danger exists and safe vehicle speed or a direction-changeable lane is provided for a driver, when the collision danger exists, the driver is reminded of the collision danger through voice, an executing mechanism takes active deceleration braking measures, when the vehicle speed is reduced to a certain degree, a steering executing module controls a motor to actively steer to the safe lane calculated by the control module, collision is avoided, and when the collision cannot be avoided, the voice module gives an alarm, the braking system adopts emergency braking, the buffering energy-absorbing device is started, if collision does not occur, the buffering energy-absorbing device is closed, and after measures are executed according to each danger, the control system can perform corresponding feedback adjustment.

Claims (5)

1. An automobile active anti-collision system is characterized by comprising a control module, a preprocessing module, an execution module, a buffering and energy absorbing module and a data acquisition module, wherein the preprocessing module, the execution module and the buffering and energy absorbing module are respectively in communication connection with the control module;
the data acquisition module is used for acquiring road lane information, vehicle information, front and rear obstacle information and relative information of the vehicle and the front and rear obstacles on the road lane;
the data acquisition module comprises a millimeter wave radar, a lane line recognition device and a vehicle sensor;
the millimeter wave radar is arranged in the middle of the front grille of the automobile and used for detecting the distance, the speed and the acceleration of the front obstacle and the rear obstacle relative to the automobile and the azimuth angle relative to the automobile;
the lane line recognition devices are respectively arranged on two sides of the front part of the automobile and used for measuring the number of lanes on the road surface, the width of the lanes, the lanes where the automobile is located and the distance between the automobile and the lane lines on two sides of the automobile;
the vehicle sensor comprises an ABS-based wheel speed sensor and a positive pressure sensor arranged at the wheel, wherein the ABS wheel speed sensor is used for measuring the speed and the road surface adhesion coefficient of the vehicle, and the positive pressure sensor is used for measuring the positive pressure of the tire on the ground;
the preprocessing module establishes a vehicle distribution model of the vehicle and the road lane in the current state according to the information obtained by the data acquisition module;
the control module judges whether collision danger exists or not according to the data processed by the pre-processing module, grades the collision according to the time required by the collision, and sends corresponding instructions to the execution module and the buffering energy absorption module aiming at different grades to reduce or avoid the collision;
the control module is used for receiving data information transmitted by the pretreatment module, and comprises a vehicle distribution model, a road adhesion coefficient and a road positive pressure of a vehicle and a road lane, the data are processed to obtain time required by collision, the road state at the moment is divided into four states of safety, primary danger, secondary danger and inevitable collision according to the length of the time required by collision, and meanwhile, when the vehicle is in the secondary danger state, the corresponding safe vehicle speed and the lane for a driver to change direction are calculated;
the execution module gives an alarm to a driver or provides corresponding safe speed and a lane for turning of the driver, and simultaneously controls the braking system and the steering system to execute corresponding operations so as to reduce or avoid collision;
the execution module comprises a voice execution module, a deceleration execution module, a braking execution module and a steering execution module;
the voice execution module is connected with the vehicle-mounted sound and has a priority use right in a sound bus, the voice execution module comprises two functions of function danger broadcasting and plan prompting, the danger broadcasting function is used for giving an alarm to a driver when the control module detects that collision is unavoidable, and the plan prompting function is used for providing a driver with a corresponding safe speed and a lane for turning when the automobile collision danger is primary danger;
the deceleration execution module receives the instruction from the control module, controls the engine, the clutch and the transmission, and controls the vehicle speed to be below a safe vehicle speed in cooperation with the brake execution module;
the brake execution module comprises an electric driving device which is arranged on the booster and forms a parallel relation with the brake pedal, receives an instruction from the control module, and controls the brake system and the deceleration execution module to cooperate with each other to control the vehicle speed below the safe vehicle speed;
the steering execution module receives the instruction from the control module, directly controls a motor in the steering booster, and realizes the active steering of the automobile, so that the collision in the lane is avoided;
the buffering energy absorption module is an active ejecting and withdrawing device and is used for absorbing and buffering energy generated by collision when the collision cannot be avoided;
the buffering energy-absorbing module comprises a collision contact element, connecting rods, two torque hydraulic energy-absorbing devices for buffering torque, a connecting piece and two positive pressure hydraulic energy-absorbing devices for buffering positive pressure, wherein the connecting piece is connected with the collision contact element through a middle hinge, the two connecting rods are respectively connected to the two sides of the collision contact element through hinges, a piston part of each torque hydraulic energy-absorbing device is connected with one connecting rod through a hinge, an external cylinder part of each torque hydraulic energy-absorbing device is fixedly connected with the connecting piece, the piston parts of the positive pressure hydraulic energy-absorbing devices on the two sides are fixedly connected with the connecting piece, and the external cylinder part of each positive pressure hydraulic energy-absorbing device is fixedly connected with.
2. The active anti-collision system of claim 1, wherein the preprocessing module receives and processes the data collected by the data collecting module, and establishes a model of the road surface on which the vehicle is located according to the lane line distribution of the road surface collected by the lane line identifying device and the determined position of the lane where the vehicle is located, and the vehicle speed collected by the wheel speed sensor; and then, converting the distance, the speed, the acceleration and the azimuth angle of the front obstacle and the rear obstacle relative to the vehicle, which are acquired by the millimeter wave radar, into a reference system by taking the road surface as the reference system, and fusing the reference system with a model of the road surface where the vehicle is located to obtain a vehicle distribution model of the vehicle and the road lane under the current state.
3. The active collision avoidance system as claimed in claim 2, wherein the vehicle distribution model of the host vehicle and the road lane comprises: lane width B, lane where the vehicle and obstacle are located, distance A from the vehicle to the left lane line, and longitudinal speed V of the vehicley0The lateral speed V of the vehiclex0Longitudinal acceleration a of the vehicley0The lateral acceleration a of the vehiclex0The longitudinal distance Y between the vehicle and the target vehicleiAnd a lateral distance XiLongitudinal speed V of target vehicleyiTarget vehicle lateral velocity VxiTarget vehicle longitudinal acceleration ayiAnd the lateral acceleration a of the target vehiclexi。
4. The active anti-collision system for the automobile according to claim 1, wherein the torque hydraulic energy absorbing device can be replaced by a torque pneumatic energy absorbing device.
5. The active anti-collision system for the automobile according to claim 1, wherein the positive pressure hydraulic energy absorption device can be replaced by a positive pressure pneumatic energy absorption device.
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