CN106965851A - A kind of Vehicular turn auxiliary prompting device and method - Google Patents

A kind of Vehicular turn auxiliary prompting device and method Download PDF

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Publication number
CN106965851A
CN106965851A CN201710135759.4A CN201710135759A CN106965851A CN 106965851 A CN106965851 A CN 106965851A CN 201710135759 A CN201710135759 A CN 201710135759A CN 106965851 A CN106965851 A CN 106965851A
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CN
China
Prior art keywords
steering
vehicle
controller
main frame
lane change
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CN201710135759.4A
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Chinese (zh)
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CN106965851B (en
Inventor
张世界
王仓
许乃平
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宁波吉利汽车研究开发有限公司
浙江吉利控股集团有限公司
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Priority to CN201710135759.4A priority Critical patent/CN106965851B/en
Publication of CN106965851A publication Critical patent/CN106965851A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D5/00Power-assisted or power-driven steering
    • B62D5/04Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046Controlling the motor
    • B62D5/0463Controlling the motor for generating assisting torque
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/26Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/34Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
    • B60Q1/346Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation

Abstract

The invention provides a kind of Vehicular turn auxiliary prompting device and method, belong to automobile assistant driving technical field.It solves steering assistance in the prior art and reminds the problem of effectively can not carrying out reminding turning.This Vehicular turn auxiliary prompting device includes vehicle mounted guidance main frame and electric booster steering controller, electric booster steering controller is connected with vehicle mounted guidance main frame, the output end of electric booster steering controller is connected with assist motor, electric booster steering controller judges the direction that vehicle need to be turned to according to the steering lane change signal received, and output control signal is to assist motor, control assist motor is exported needs the steering force of the identical steering direction of steering direction to reducing gear with vehicle.This method comprises the following steps:A, determination start steering assistance and reminded;B, judge steering assistance remind direction;C, steering assistance are reminded;D, exit prompting.The device and method can realize that prompting driver easily and effectively carries out steering lane change.

Description

A kind of Vehicular turn auxiliary prompting device and method
Technical field
The invention belongs to automobile assistant driving technical field, it is related to a kind of Vehicular turn auxiliary prompting device and method.
Background technology
With the development of science and technology the function having on automobile is more and more, such as electrical power-assisted steering function, vehicle mounted guidance Function etc..The steering wheel connection steering spindle of vehicle, drives steering axes to complete the steering of vehicle, increases electronic by steering wheel The size of steering and the torque of steering wheel is judged after force aid system by electric booster steering controller, afterwards electric power steering Controller control assist motor exports power steering torque to steering spindle, and wherein assist motor is connected by reducing gear and steering spindle Connect.Vehicle mounted guidance, which is that driver is the more commonly used, is also very convenient function.Vehicle mounted guidance is to utilize vehicle GPS (global location System) coordinate electronic map to carry out, it can conveniently and accurately send steering in advance and remind voice to be easy to driver to shift to an earlier date Do corresponding actions.
Although vehicle mounted guidance with being easy to driver preferably to be driven, vehicle mounted guidance is to carry out voice to lead Boat, occurs because driver's energy is not concentrated or the reason for other each side often, fails to adjust steering wheel for vehicle in time and goes to select Correct track is selected, causes to occur just before exporting the problem of turnout just carries out lane change, is so by car rear-end or rear car easily Hide the also urgent lane change major traffic accidents such as cause the chain of rings to knock into the back.Therefore there is certain potential safety hazard.Or trouble can be missed Cause distance travelled elongated and delay stroke in road.
A kind of Application No. CN201610448691.0 steering wheel assisted diversion dress is disclosed for this Chinese patent literature Put, the device includes the display reminding module and mainboard control module being electrically connected with each other, mainboard control module is used to receive car The lane-change turn signal of navigation equipment, control display reminding module carries out display reminding processing, and the device is also carried including vibration Show module, dismiss from the post to turn to vehicle to indicated steering direction for vibrating alert, display reminding module, mainboard control module with And in the reserved transparent groove on vibration prompt Module-embedding to protecting cover for steering wheel and paste protecting cover for steering wheel interior table Face.The device can vehicle mounted guidance send lane-change turn signal when control display reminding module pointed out on the steering wheel and It can vibrate to point out driver to carry out corresponding steering operation by the vibration prompt module of respective direction.
Although the device, which can improve all modules in Vehicular turn prompting effect, the device, to be needed to be arranged on direction On disk protective case, and protecting cover for steering wheel is installed on the steering wheel, and one is that influence is attractive in appearance, and two be that steering wheel is often operated, side Vibration prompt module, bluetooth module into disk protective case are all easy to damage, so that prompting effect can not be played, it is most important It is that vibration prompt module can just feel when only driver touches, therefore reminding turning effect is not very effective, even if Driver holds vibration prompt module, and long-time operation can also make vibration prompt module damage, therefore the device is inconvenient Reminding turning can not effectively be carried out.
The content of the invention
The purpose of the present invention is there is above mentioned problem for existing technology, it is proposed that a kind of Vehicular turn auxiliary prompting dress Put and method, the technical problems to be solved by the invention are how prompting driver easily and effectively carries out steering lane change.
The purpose of the present invention can be realized by following technical proposal:A kind of Vehicular turn auxiliary prompting device, vehicle bag Steering spindle and the steering wheel being connected in steering spindle are included, the steering spindle is connected with assist motor by reducing gear, its feature It is, this Vehicular turn auxiliary prompting device includes being used to send the vehicle mounted guidance main frame for turning to lane change signal and for receiving turning To the electric booster steering controller of lane change signal, the electric booster steering controller is connected with vehicle mounted guidance main frame, described The output end of electric booster steering controller connects above-mentioned assist motor, and the electric booster steering controller is according to receiving Turn to lane change signal and judge the direction that vehicle need to be turned to, and output control signal is to assist motor, control assist motor output The steering force of the identical steering direction of steering direction is needed to reducing gear with vehicle.
This Vehicular turn auxiliary prompting device is used as steering assistance by vehicle mounted guidance main frame transmission steering lane change signal and carried Wake up enabled instruction and remind accuracy so as to increase steering, and steering force is exported by assist motor and reminded to transmit to turn to direction Disk enables a driver to direct feeling and reminded to turning to, and whole steering wheel all can be by steering force, therefore driver holds Steering wheel, which can just experience steering, to be reminded, so as to play the effectively correct effect for reminding vehicle to turn to, the steering of the steering force Direction needs steering direction identical with vehicle.Vehicle mounted guidance main frame is judged when vehicle need to turn to lane change by navigation way, vehicle-mounted Navigation host exports steering lane change signal to electric booster steering controller, and the signal is carried out by electric booster steering controller Judgement draws the direction that vehicle need to be turned to, and now electric booster steering controller output control signal is to assist motor, power-assisted electricity Machine is exported needs the steering force of the identical steering direction of steering direction to reducing gear with vehicle, because reducing gear and steering spindle connect Connect, and closure disk again in steering spindle, therefore the steering force is sent to steering wheel, driver when vehicle is travelled by steering spindle It is to hold steering wheel certainly, now driver experiences the steering force on steering wheel, so that driver just can know that toward which Direction carries out steering lane change.And when driver holds steering wheel steering force can not control direction disk rotate so that turn To remind while keep driving safety.Steering wheel is connected in steering spindle, and steering spindle connects power-assisted electricity by reducing gear Machine is the structure used on existing vehicle.
In a kind of above-mentioned Vehicular turn auxiliary prompting device, the electric booster steering controller is preset with power-assisted electricity The steering force output frequency of machine, when electric booster steering controller judges the direction that vehicle need to be turned to, controls assist motor Exported by default output frequency needs the steering force of the identical steering direction of steering direction to reducing gear with vehicle.Pass through power-assisted electricity Machine exports steering force by default output frequency, so that driver is intermittent by steering wheel direct feeling to steering force, is formed Repeatedly directly turn to and remind, can further ensure that driver can receive steering lane change and remind to be turned to.
In a kind of above-mentioned Vehicular turn auxiliary prompting device, the input of the vehicle mounted guidance main frame, which is connected with, to be used for Detect the rotary angle transmitter of wheel steering direction and steering angle.The letter that vehicle mounted guidance main frame is sent according to rotary angle transmitter Number judged, judging that wheel steering need to turn to that lane change direction is consistent with vehicle, and the steering angle of steering wheel is more than car When carrying the default corner critical value of navigation host, show that driver has been received by prompting, vehicle correctly turns to lane change, now Vehicle mounted guidance main frame sends a signal to electric booster steering controller control assist motor and stops steering assistance prompting.
In a kind of above-mentioned Vehicular turn auxiliary prompting device, the electric booster steering controller is connected with for examining The wheel speed sensors of vehicle speed are surveyed, electric booster steering controller judges vehicle need according to the steering lane change signal received The direction of the steering and GES sent according to wheel speed sensors judges current vehicle speed, when speed is bigger electric boosted turn Assist motor output and vehicle is controlled to need the steering force of the identical steering direction of steering direction bigger to controller.It is bigger in speed Situation, driver is easy to quickly miss the road that need to be diverted to if not realizeing reminding turning, so that potential safety hazard is caused, Therefore in the case where speed is bigger, steering force is bigger.In the case where steering force is bigger, driver can be more preferably reminded, but turn Can not the rotation of control direction disk when driver holds steering wheel to power.
In a kind of above-mentioned Vehicular turn auxiliary prompting device, this Vehicular turn auxiliary prompting device also includes vehicle body control Device processed and display turn to the combination instrument of animation, and the combination instrument and car body controller connect the defeated of vehicle mounted guidance main frame respectively Go out end, the output end of the car body controller is connected to left steering lamp and right turn lamp.In electric booster steering controller While controlling assist motor output steering force, car body controller controls the corresponding light prompting front vehicle of steering indicating light, and And combination instrument display turns to animation to remind driver to turn to lane change.
In a kind of above-mentioned Vehicular turn auxiliary prompting device, the input of the vehicle mounted guidance main frame is also associated with using In the camera of detection rear view of vehicle situation, the output end of vehicle mounted guidance main frame is connected with voice unit, the vehicle mounted guidance master Machine, which is sent, receives the signal that camera is sent when turning to lane change signal, the vehicle mounted guidance main frame is preset with apart from critical value, When judging that front vehicle and the spacing of this vehicle are less than apart from critical value, vehicle mounted guidance main frame sends a signal to power-assisted steering control Device, control assist motor is reminded without steering assistance and vehicle mounted guidance main frame output control signal can not to voice unit progress The voice message of steering, when judging that front vehicle and the spacing of this vehicle are more than apart from critical value, vehicle mounted guidance main frame output is controlled The voice message that signal processed to voice unit can turn to.Exceed car in the distance of the vehicle and this car that detect rear view of vehicle Carry navigation host it is default apart from critical value when, show that two cars distance is too near, unsuitable reminding turning, therefore vehicle mounted guidance main frame sends out The number of delivering letters gives electric booster steering controller, makes electric booster steering controller not control assist motor to carry out steering assistance and carries Wake up, so as to improve the security of driver.The vehicle of rear view of vehicle and this car it is distant when reminded and drive by voice unit The person of sailing can turn to, and assist motor keeps turning to and reminds work.
A kind of Vehicular turn auxiliary prompting method, it is characterised in that this method comprises the following steps:
A, determination start steering assistance and reminded:By vehicle mounted guidance host computer control steering assistance remind, vehicle mounted guidance main frame with Electric booster steering controller is connected, and vehicle mounted guidance main frame exports steering lane change signal to electricity while exporting steering lane change voice Dynamic booster steering controller;
B, judge steering assistance remind direction:Electric booster steering controller receives progress analysis after steering lane change signal and sentenced Current vehicle need to turn to the direction of lane change on the disconnected navigation way for drawing the planning of vehicle mounted guidance main frame;
C, steering assistance are reminded:Electric booster steering controller is connected with assist motor, and electric booster steering controller is defeated Go out control signal to assist motor, controlled motor is exported needs the steering force of the identical steering direction of steering direction to reductor with vehicle Above-mentioned steering force is sent to steering wheel by structure, reducing gear action;
D, exit prompting:Vehicle mounted guidance main frame is connected with rotary angle transmitter, rotary angle transmitter detection wheel steering direction And steering angle is sent to vehicle mounted guidance main frame, vehicle mounted guidance main frame needs to turn in the direction for judging wheel steering with vehicle When the direction of lane change is consistent and wheel steering angle is more than vehicle mounted guidance main frame default corner critical value, vehicle mounted guidance main frame Electric booster steering controller is outputed signal to, control assist motor, which stops steering assistance, to be reminded.
This Vehicular turn auxiliary prompting method is reminded by vehicle mounted guidance host computer control steering assistance, then by electric power steering Controller carries out implementing steering assistance prompting, the control by electric booster steering controller to assist motor, output and vehicle The steering force of the identical steering direction of steering direction is needed to reducing gear, then is acted by reducing gear by the above-mentioned steering force side of being sent to To disk, enable a driver to directly on the steering wheel by steering force, experience steering wheel one turns to turning for lane change direction Dynamic trend, so as to accurately and effectively remind driver to carry out steering lane change.Judged by the signal sent to rotary angle transmitter Whether driver carries out correctly turning to lane change, after judging that driver correctly operates, and control assist motor stops steering assistance Remind work.
In above-mentioned Vehicular turn auxiliary prompting method, vehicle mounted guidance main frame is also associated with car body controller and combination instrument Table, in step, vehicle mounted guidance main frame export steering lane change signal to electric booster steering controller, car body controller respectively And combination instrument, in stepb, car body controller and combination instrument judge that Current vehicle need to turn to the side of lane change respectively To in step C, car body controller control need to turn to the corresponding steering indicating light in lane change direction with vehicle and light prompting, combination instrument Display vehicle need to turn to the animation prompting in lane change direction.In assist motor steering assistance prompting work, car body controller is also controlled The light prompting front vehicle of steering indicating light processed, and combination instrument shows that vehicle need to turn to the animation prompting in lane change direction to enter one Step reminds driver.
In above-mentioned Vehicular turn auxiliary prompting method, in step C, the electric booster steering controller is preset with The steering force output frequency of assist motor, when electric booster steering controller judges the direction that vehicle need to be turned to, control is helped Force motor is exported by default output frequency needs the steering force of the identical steering direction of steering direction to reducing gear with vehicle.Pass through Assist motor exports steering force by default output frequency, so that driver is intermittent to pass through steering wheel direct feeling to steering Power, forms repeatedly directly to turn to and reminds, and can further ensure that driver can receive steering lane change and remind Row is turned to.
In above-mentioned Vehicular turn auxiliary prompting method, vehicle mounted guidance main frame is connected with wheel speed sensors, wheel speed sensing Device sends GES and gives vehicle mounted guidance main frame, and electric booster steering controller is judged according to the steering lane change signal received Direction that vehicle need to the be turned to and GES sent according to wheel speed sensors judges current vehicle speed, it is electronic when speed is bigger Booster steering controller control assist motor output needs the steering force of the identical steering direction of steering direction bigger with vehicle.Speed is got over It is big to represent that driver is easier to miss the situation for turning to crossing when not hearing the voice of vehicle mounted guidance, therefore be more preferably prompting Driver, when speed is bigger, the output of electric booster steering controller control assist motor needs steering direction is identical to turn to vehicle The steering force in direction is bigger.
Compared with prior art, the invention has the advantages that:
1st, the present invention is used as steering assistance prompting enabled instruction increase by vehicle mounted guidance main frame transmission steering lane change signal Turn to and remind accuracy, and exporting steering force by assist motor makes steering wheel have correct steering trend, so as to directly carry Wake up to driver.
2nd, whole steering wheel all can be by steering force in the present invention, therefore driver holds steering wheel and carried with regard to that can experience steering Show, so as to play the effect that effectively correct prompting vehicle need to be turned to.
3rd, the present invention exports steering force by assist motor by default output frequency, so that driver's intermittence passes through side To disk direct feeling to steering force, formed repeatedly directly to turn to and reminded, can further ensure that driver can receive Lane change is turned to remind to be turned to.
Brief description of the drawings
Fig. 1 is the structural representation of device in the present invention.
Fig. 2 is the control flow chart of method in the present invention.
In figure, 1, vehicle mounted guidance main frame;2nd, electric booster steering controller;3rd, assist motor;4th, rotary angle transmitter;5th, take turns Fast sensor;6th, car body controller;7th, combination instrument;8th, left steering lamp;9th, right turn lamp;10th, camera;11st, voice unit.
Embodiment
The following is specific embodiment of the invention and with reference to accompanying drawing, technical scheme is further described, But the present invention is not limited to these embodiments.
Vehicle includes steering spindle and the steering wheel being connected in steering spindle, and steering spindle is connected with power-assisted electricity by reducing gear Machine 3.As shown in figure 1, a kind of Vehicular turn auxiliary prompting device includes being used to send the vehicle mounted guidance main frame 1 for turning to lane change signal With the electric booster steering controller 2 that lane change signal is turned to for receiving, electric booster steering controller 2 and vehicle mounted guidance main frame 1 connection.The output end of electric booster steering controller 2 connects above-mentioned assist motor 3, and electric booster steering controller 2 is according to connecing The steering lane change signal received judges the direction that vehicle need to be turned to, and output control signal is to assist motor 3, control power-assisted electricity Machine 3 is exported needs the steering force of the identical steering direction of steering direction to reducing gear with vehicle.
Electric booster steering controller 2 is preset with the steering force output frequency of assist motor 3, when electric power steering control When device 2 judges the direction that vehicle need to be turned to, control assist motor 3 needs steering direction by the output of default output frequency with vehicle The steering force of identical steering direction is to reducing gear.It is one as the default output frequency of preferred electric booster steering controller 2 Second is once to one second four times.The size of steering force is set by actual vehicle actual conditions, to ensure vehicle drive safety, steering force Assist motor 3 can just drive twice of the power of steering wheel rotation when not holding steering wheel less than hand, and steering force minimum can not be low Assist motor 3 can just drive the power that steering wheel is rotated when hand does not hold steering wheel.
The corner that the input of vehicle mounted guidance main frame 1 is connected with for detecting wheel steering direction and steering angle is passed Sensor 4 and the camera 10 for detecting rear view of vehicle situation.The output end of vehicle mounted guidance main frame 1 is connected with voice unit 11, Vehicle mounted guidance main frame 1, which is sent, receives the signal that camera 10 is sent when turning to lane change signal, vehicle mounted guidance main frame 1 is preset with distance Critical value, when judging that front vehicle and the spacing of this vehicle are less than apart from critical value, vehicle mounted guidance main frame 1, which is sent a signal to, to be helped Power steering controller 2, control assist motor 3 is reminded without steering assistance and the output control signal of vehicle mounted guidance main frame 1 is to language Sound unit 11 carries out indeflectible voice message, the car when judging that front vehicle and the spacing of this vehicle are more than apart from critical value Carry the voice message that the output control signal of navigation host 1 to voice unit 11 can turn to.Scope apart from critical value is preferred For 2 meters to 20 meters.
Electric booster steering controller 2 is connected with the wheel speed sensors 5 for detecting vehicle speed, electric power steering control The car that device 2 processed is judged direction that vehicle need to turn to according to the steering lane change signal received and sent according to wheel speed sensors 5 Fast signal judges current vehicle speed, and when speed is bigger, the output of the control of electric booster steering controller 2 assist motor 3 is needed with vehicle The steering force of the identical steering direction of steering direction is bigger.But steering force is all the time in above-mentioned optimized scope.This Vehicular turn is auxiliary Alarm set is helped also to include 6 points of the combination instrument 7 of car body controller 6 and display steering animation, combination instrument 7 and car body controller Not Lian Jie vehicle mounted guidance main frame 1 output end, the output end of car body controller 6 is connected to left steering lamp 8 and right turn lamp 9.Vehicle mounted guidance main frame 1 is attached with car body controller 6 with combination instrument 7 by vehicle CAN network-bus.CAN is Controller Area Network abbreviation, CAN network bus is with traffic rate height, easily realized and cost performance height Deng a kind of fieldbus for having formed international standard of various features, and it has been widely used in vehicle.
The following is the course of work of this Vehicular turn auxiliary prompting device:
When using vehicle mounted guidance, vehicle mounted guidance main frame 1 can cook up the travel route of vehicle according to destination, and root Steering lane change voice is sent according to the energy control voice of travel route vehicle mounted guidance main frame 1 unit 11, this is prior art, is not gone to live in the household of one's in-laws on getting married herein State.Vehicle mounted guidance main frame 1 exports steering lane change signal to electronic while control voice unit 11 sends steering lane change voice Booster steering controller 2 and car body controller 6 and combination instrument 7.Turning to lane change signal includes " turning left, turning right, keeping to the left Sail, keep to the right, front (km, 500 meters, 200 meters, 100 meters) note keeping to the left, front (km, 500 meters, 200 meters, 100 meters) note keeping to the right " etc..
Electric booster steering controller 2 receives progress judgement after the signal that vehicle mounted guidance main frame 1 is sent and show that vehicle is needed The direction of steering.When judge vehicle need turn right or keep to the right (including how many meters of front is turned right or kept to the right) when, The output control signal of electric booster steering controller 2 is to assist motor 3, and assist motor 3 is started working to export and needs to turn to vehicle The steering force of the identical steering direction in direction now exports the power of right-hand rotation to reducing gear, due to reducing gear to reducing gear Act in the steering spindle of vehicle, and steering wheel is on one end of steering spindle, therefore the steering force can be applied on steering wheel, Driver holds steering wheel in driving procedure, and steering wheel now has steering trend to the right, so that driver's energy Enough direct feelings are reminded to the steering turned right, and driver just can know that directional steering lane change of turning right.And in the driver side of holding To steering force during disk can not control direction disk rotate, so as to keep driving safety while reminding turning.If electronic help Power steering controller 2 judges that vehicle needs left-hand rotation, and the course of work is same as described above, and simply electric booster steering controller 2 is controlled The power that the output of assist motor 3 processed is turned left.
To ensure the validity and efficiency reminded, electric booster steering controller 2 is in the side for judging to need to turn to lane change Backward, the control assist motor 3 of electric booster steering controller 2 exports steering force by default output frequency, so that driver's energy Enough intermittences on the steering wheel are experienced steering and reminded, and the steering lane change noted so as to be easier driver is reminded. During high vehicle speeds, it is easier to miss correct travel, therefore electric booster steering controller 2 is being judged to need to turn To after the direction of lane change, current vehicle speed is drawn according to the signal that wheel speed sensors 5 are sent, the electric power steering when speed is bigger The control output of assist motor 3 of controller 2 needs the steering force of the identical steering direction of steering direction bigger with vehicle, enables a driver to Quickly recognize and be currently needed for carrying out steering lane change.
While the control assist motor 3 of electric booster steering controller 2 works, car body controller 6 and combination instrument 7 It is operated.Car body controller 6 is when judging direction that vehicle need to be turned to, and the output corresponding signal of car body controller 6 is opened pair When the steering indicating light answered, such as vehicle need to turn right, the control right turn of car body controller 6 lamp 9 is opened, conversely, car body controller 6 controls a left side Steering indicating light 8 is opened.Steering indicating light can remind this car of front vehicle to turn after opening.Combination instrument 7 need to be turned to according to vehicle Direction shows corresponding steering animation.
By keeping the steering voice reminder of vehicle mounted guidance, and increase steering wheel directly to remind, Body Control The steering indicating light control of device 6 is pointed out along with the animation of combination instrument 7, forms four alerting patterns effectively to ensure that driver can It is correct to turn to lane change driving.
Rotary angle transmitter 4 will detect that wheel steering direction and steering angle are sent to vehicle mounted guidance main frame 1, vehicle-mounted to lead Boat main frame 1 judges that wheel steering is identical with the direction that Current vehicle need to be turned to, and the angle turned to is more than vehicle mounted guidance main frame 1 During default corner critical value, show that driver receives prompting and carries out correct steering lane change, now vehicle mounted guidance main frame 1 is sent out The number of delivering letters to electric booster steering controller 2 control assist motor 3 stop output be used for remind driver turn to steering force from And assist motor 3 recovers normal.And now steering indicating light is persistently glittering, combination instrument 7 still shows steering according to actual range Animation effect.Corner critical value can be confirmed by actual vehicle condition.As preferred corner critical value scope for 10 degree extremely 30 degree.
To ensure to remind driver to ensure driving safety while turning to lane change, vehicle mounted guidance main frame 1 is also received for examining The signal that the camera 10 of rear view of vehicle situation is sent is surveyed, when the distance for detecting front vehicle and this car is less than apart from critical value When, vehicle mounted guidance main frame 1 sends a signal to electric booster steering controller 2, makes assist motor 3 carry out stopping turning to reminding work Make, and vehicle mounted guidance main frame 1 also control voice unit 11 send the voice message that should not be turned to, when detect front vehicle with When the distance of this car is more than apart from critical value, the control voice unit 11 of vehicle mounted guidance main frame 1, which is sent, can trust reminding turning.
When driver does not carry out correctly turning to lane change, and vehicle mounted guidance has carried out programme path again, therefore cancels When front steering lane change is reminded.When assist motor 3 exports steering force, vehicle mounted guidance main frame 1 has carried out planning route again, now The output control signal of vehicle mounted guidance main frame 1 makes assist motor 3 carry out stopping turning to reminding work to electric booster steering controller 2 Make.
As shown in Fig. 1 to 2, a kind of Vehicular turn auxiliary prompting method, this method is applied in a kind of above-mentioned Vehicular turn In auxiliary prompting device, this method comprises the following steps:
Step A, determination start steering assistance and reminded:Steering assistance is controlled to remind by vehicle mounted guidance main frame 1, vehicle mounted guidance master Machine 1 is connected with electric booster steering controller 2, and output turns to lane change while the output of vehicle mounted guidance main frame 1 turns to lane change voice Signal is to electric booster steering controller 2.Vehicle mounted guidance main frame 1 is also associated with car body controller 6 and combination instrument 7.Vehicle-mounted After navigation is started working, the control vehicle mounted guidance of vehicle mounted guidance main frame 1 sends steering lane change voice, shows that now driver needs note The steering lane change of meaning vehicle, while vehicle mounted guidance main frame 1 also exports steering lane change signal to electric booster steering controller 2, car Body controller 6 and combination instrument 7.And the steering lane change signal is sent to electric power steering control by CAN network bus Device 2, car body controller 6 and combination instrument 7.
Step B, judge steering assistance remind direction:Electric booster steering controller 2 is received to turn to and carried out after lane change signal Analysis judges to draw that Current vehicle need to turn to the direction of lane change on the navigation way of the planning of vehicle mounted guidance main frame 1.Car body controller 6 Received with combination instrument 7 after steering lane change signal, car body controller 6 and combination instrument 7 are judged to be currently needed for turning to respectively Direction.
Step C, steering assistance are reminded:Electric booster steering controller 2 is connected with assist motor 3, electric power steering control The output control signal of device 2 processed is to assist motor 3, and controlled motor output and vehicle need the steering force of the identical steering direction of steering direction To reducing gear, above-mentioned steering force is sent to steering wheel by reducing gear action.Electric booster steering controller 2 is preset with power-assisted The steering force output frequency of motor 3, when electric booster steering controller 2 judges the direction that vehicle need to be turned to, controls power-assisted Motor 3 is exported by default output frequency needs the steering force of the identical steering direction of steering direction to reducing gear with vehicle.It is vehicle-mounted Navigation host 1 is connected with wheel speed sensors 5, and wheel speed sensors 5 send GES to vehicle mounted guidance main frame 1, electric boosted turn Direction that vehicle need to turn to is judged according to the steering lane change signal received to controller 2 and sent according to wheel speed sensors 5 GES judge current vehicle speed, when speed is bigger electric booster steering controller 2 control assist motor 3 export and car Need the steering force of the identical steering direction of steering direction bigger.
When judge vehicle need turn right or keep to the right (including how many meters of front is turned right or kept to the right) when, it is electronic The output control signal of booster steering controller 2 is to assist motor 3, and assist motor 3 starts working to export needs steering direction with vehicle The steering force of identical steering direction now exports the power of right-hand rotation to reducing gear, due to reducing gear effect to reducing gear In in the steering spindle of vehicle, and steering wheel is on one end of steering spindle, therefore the steering force can be applied on steering wheel, driven Member holds steering wheel in driving procedure, and steering wheel now has steering trend to the right, so that driver can be straight The steering prompting for experiencing right-hand rotation is connect, driver just can know that directional steering lane change of turning right.And hold steering wheel in driver When steering force can not control direction disk rotate, so as to keep driving safety while reminding turning.If electric boosted turn Judge that vehicle needs left-hand rotation to controller 2, the course of work is same as described above, the simply control of electric booster steering controller 2 is helped The power that the output of force motor 3 is turned left.
To ensure the validity and efficiency reminded, electric booster steering controller 2 is in the side for judging to need to turn to lane change Backward, the control assist motor 3 of electric booster steering controller 2 exports steering force by default output frequency, so that driver's energy Enough intermittences on the steering wheel are experienced steering and reminded, and the steering lane change noted so as to be easier driver is reminded.
In high vehicle speeds, it is easier to miss correct travel, therefore electric booster steering controller 2 is being sentenced Break behind the direction for and needing to turn to lane change, current vehicle speed is drawn according to the signal that wheel speed sensors 5 are sent, it is electric when speed is bigger The dynamic control of booster steering controller 2 assist motor 3 output and vehicle need the steering force of the identical steering direction of steering direction bigger, make Driver, which can quickly recognize, to be currently needed for carrying out steering lane change.
Car body controller 6 judges behind the direction that vehicle need to be turned to that control need to turn to corresponding turn of lane change direction with vehicle Prompting is lighted to lamp, when such as vehicle need to turn right, the control right turn of car body controller 6 lamp 9 is opened, conversely, car body controller 6 is controlled Left steering lamp 8 is opened.Combination instrument 7 shows that vehicle need to turn to the animation prompting in lane change direction.
Step D, exit prompting:Vehicle mounted guidance main frame 1 is connected with rotary angle transmitter 4, and the detection steering wheel of rotary angle transmitter 4 turns Vehicle mounted guidance main frame 1 is sent to direction and steering angle, vehicle mounted guidance main frame 1 is judging the direction of wheel steering and car It need to turn to when direction is consistent and wheel steering angle is more than the default corner critical value of vehicle mounted guidance main frame 1 of lane change, car Carry navigation host 1 and output signal to electric booster steering controller 2, control assist motor 3, which stops steering assistance, to be reminded.By turning The signal that angle transducer 4 is sent judges the action of driver, driver carry out it is correct turn to lane change after, exit steering and become Road prompting work.
To ensure to remind driver to ensure driving safety while turning to lane change, vehicle mounted guidance main frame 1 is also received for examining The signal that the camera 10 of rear view of vehicle situation is sent is surveyed, when the distance for detecting front vehicle and this car is less than apart from critical value When, vehicle mounted guidance main frame 1 sends a signal to electric booster steering controller 2, makes assist motor 3 carry out stopping turning to reminding work Make, and vehicle mounted guidance main frame 1 also control voice unit 11 send the voice message that should not be turned to, when detect front vehicle with When the distance of this car is more than apart from critical value, the control voice unit 11 of vehicle mounted guidance main frame 1, which is sent, can trust reminding turning.
When driver does not carry out correctly turning to lane change, and vehicle mounted guidance has carried out programme path again, therefore cancels When front steering lane change is reminded.When assist motor 3 exports steering force, vehicle mounted guidance main frame 1 has carried out planning route again, now The output control signal of vehicle mounted guidance main frame 1 makes assist motor 3 carry out stopping turning to reminding work to electric booster steering controller 2 Make.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more having used vehicle mounted guidance main frame 1, electric booster steering controller 2, assist motor 3, corner herein Sensor 4, wheel speed sensors 5, car body controller 6, combination instrument 7, left steering lamp 8, right turn lamp 9, camera 10, voice list First 11 grade terms, but it is not precluded from the possibility using other terms.It is used for the purpose of more easily describing using these terms With the essence for explaining the present invention;Any additional limitation is construed as all to disagree with spirit of the present invention.

Claims (10)

1. a kind of Vehicular turn auxiliary prompting device, vehicle includes steering spindle and the steering wheel being connected in steering spindle, described turn Assist motor (3) is connected with by reducing gear to axle, it is characterised in that this Vehicular turn auxiliary prompting device includes being used to send out The vehicle mounted guidance main frame (1) for turning to lane change signal and the electric booster steering controller (2) that lane change signal is turned to for receiving are sent, The electric booster steering controller (2) is connected with vehicle mounted guidance main frame (1), the electric booster steering controller (2) it is defeated Go out the above-mentioned assist motor (3) of end connection, the electric booster steering controller (2) judges according to the steering lane change signal received Go out the direction that vehicle need to be turned to, and output control signal gives assist motor (3), control assist motor (3) output need to turn with vehicle To the steering force of the identical steering direction in direction to reducing gear.
2. Vehicular turn auxiliary prompting device according to claim 1, it is characterised in that the electric power steering control Device (2) is preset with the steering force output frequency of assist motor (3), when electric booster steering controller (2) judges that vehicle need to turn To direction when, control assist motor (3) is exported by default output frequency and vehicle needs the identical steering direction of steering direction Steering force is to reducing gear.
3. Vehicular turn auxiliary prompting device according to claim 1 or 2, it is characterised in that the vehicle mounted guidance main frame (1) input is connected with the rotary angle transmitter (4) for detecting wheel steering direction and steering angle.
4. Vehicular turn auxiliary prompting device according to claim 3, it is characterised in that the electric power steering control Device (2) is connected with the wheel speed sensors (5) for detecting vehicle speed, and electric booster steering controller (2) basis is received Steering lane change signal judges the vehicle direction that need to be turned to and the GES sent according to wheel speed sensors (5) is judged currently Speed, when speed is bigger, electric booster steering controller (2) control assist motor (3) output needs steering direction identical with vehicle The steering force of steering direction is bigger.
5. Vehicular turn auxiliary prompting device according to claim 4, it is characterised in that this Vehicular turn auxiliary prompting is filled Putting also includes the combination instrument (7) of car body controller (6) and display steering animation, the combination instrument (7) and car body controller (6) output end of vehicle mounted guidance main frame (1) is connected respectively, and the output end of the car body controller (6) is connected to left steering Lamp (8) and right turn lamp (9).
6. Vehicular turn auxiliary prompting device according to claim 5, it is characterised in that the vehicle mounted guidance main frame (1) Input be also associated with camera (10) for detecting rear view of vehicle situation, the output end connection of vehicle mounted guidance main frame (1) There is voice unit (11), the vehicle mounted guidance main frame (1), which sends, receives the signal that camera (10) is sent when turning to lane change signal, The vehicle mounted guidance main frame (1) is preset with apart from critical value, is judging the spacing of front vehicle and this vehicle less than apart from critical During value, vehicle mounted guidance main frame (1) sends a signal to booster steering controller (2), and control assist motor (3) is without steering assistance Remind and vehicle mounted guidance main frame (1) output control signal carries out indeflectible voice message to voice unit (11), judging Vehicle mounted guidance main frame (1) output control signal is to voice unit when front vehicle and the spacing of this vehicle are more than apart from critical value (11) voice message that can be turned to is carried out.
7. a kind of Vehicular turn auxiliary prompting method, it is characterised in that this method comprises the following steps:
A, determination start steering assistance and reminded:Reminded by vehicle mounted guidance main frame (1) control steering assistance, vehicle mounted guidance main frame (1) It is connected with electric booster steering controller (2), output turns to lane change while vehicle mounted guidance main frame (1) output turns to lane change voice Signal gives electric booster steering controller (2);
B, judge steering assistance remind direction:Electric booster steering controller (2) receives progress analysis after steering lane change signal and sentenced Current vehicle need to turn to the direction of lane change on the disconnected navigation way for drawing vehicle mounted guidance main frame (1) planning;
C, steering assistance are reminded:Electric booster steering controller (2) is connected with assist motor (3), electric booster steering controller (2) output control signal gives assist motor (3), and controlled motor output and vehicle need the steering force of the identical steering direction of steering direction To reducing gear, above-mentioned steering force is sent to steering wheel by reducing gear action;
D, exit prompting:Vehicle mounted guidance main frame (1) is connected with rotary angle transmitter (4), rotary angle transmitter (4) detection wheel steering Direction and steering angle are sent to vehicle mounted guidance main frame (1), vehicle mounted guidance main frame (1) judge the direction of wheel steering with Vehicle need to turn to the direction of lane change unanimously and wheel steering angle is more than the default corner critical value of vehicle mounted guidance main frame (1) When, vehicle mounted guidance main frame (1) outputs signal to electric booster steering controller (2), and control assist motor (3) stops steering assistance Remind.
8. Vehicular turn auxiliary prompting method according to claim 7, it is characterised in that vehicle mounted guidance main frame (1) also connects Car body controller (6) and combination instrument (7) are connected to, in step, vehicle mounted guidance main frame (1) exports steering lane change signal respectively To electric booster steering controller (2), car body controller (6) and combination instrument (7), in stepb, car body controller (6) Judge that Current vehicle need to turn to the direction of lane change respectively with combination instrument (7), in step C, car body controller (6) control with Vehicle need to turn to the corresponding steering indicating light in lane change direction and light prompting, and combination instrument (7) shows that vehicle need to turn to the dynamic of lane change direction Draw prompting.
It is described electronic to help 9. Vehicular turn auxiliary prompting method according to claim 8, it is characterised in that in step C Power steering controller (2) is preset with the steering force output frequency of assist motor (3), when electric booster steering controller (2) judges When going out the direction that vehicle need to be turned to, control assist motor (3) is exported by default output frequency needs steering direction identical with vehicle The steering force of steering direction is to reducing gear.
10. Vehicular turn auxiliary prompting method according to claim 9, it is characterised in that vehicle mounted guidance main frame (1) is connected There are wheel speed sensors (5), wheel speed sensors (5) send GES and give vehicle mounted guidance main frame (1), electric booster steering controller (2) the steering lane change signal that basis is received judges the direction that vehicle need to be turned to and the car sent according to wheel speed sensors (5) Fast signal judges current vehicle speed, electric booster steering controller (2) control assist motor (3) output and car when speed is bigger Need the steering force of the identical steering direction of steering direction bigger.
CN201710135759.4A 2017-03-08 2017-03-08 A kind of Vehicular turn auxiliary prompting device and method Active CN106965851B (en)

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