CN107264524B - Intelligent lane changing auxiliary system and intelligent lane changing auxiliary method based on data fusion - Google Patents

Intelligent lane changing auxiliary system and intelligent lane changing auxiliary method based on data fusion Download PDF

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Publication number
CN107264524B
CN107264524B CN201710349145.6A CN201710349145A CN107264524B CN 107264524 B CN107264524 B CN 107264524B CN 201710349145 A CN201710349145 A CN 201710349145A CN 107264524 B CN107264524 B CN 107264524B
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vehicle
control unit
steering
collision
collision avoidance
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CN107264524A (en
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撒兴泼
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Zhejiang Geely Holding Group Co Ltd
Geely Automobile Research Institute Ningbo Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Geely Automobile Research Institute Ningbo Co Ltd
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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
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • 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
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • 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
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/202—Steering torque

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

An intelligent lane changing auxiliary system based on data fusion comprises a sensor, a lane changing control unit, an engine control unit, a steering control unit and an electric power steering unit, wherein the sensor is used for detecting environmental information between a vehicle and surrounding vehicles in real time; the lane changing control unit is used for receiving the environmental information transmitted by the sensor, calculating collision time in real time through the environmental information, when the collision time is smaller than a time set value, calculating a collision avoidance steering angle and a collision avoidance steering torque required by the vehicle according to the environmental information, and determining whether the electric power steering unit is controlled to steer by the steering control unit or the vehicle is controlled to accelerate by the engine control unit according to whether the collision avoidance steering torque is in a reasonable range, so that the vehicle is prevented from colliding with surrounding vehicles. The invention also provides an intelligent lane change auxiliary method based on data fusion.

Description

Intelligent lane changing auxiliary system and intelligent lane changing auxiliary method based on data fusion
Technical Field
The invention relates to the technical field of automobile safety, in particular to an intelligent lane change auxiliary system and an intelligent lane change auxiliary method based on data fusion.
Background
With the rapid development of automobile industry and the improvement of living standard of people in China, the automobile ownership of resident families is rapidly increased. However, while the automobile industry in China is rapidly developed, the potential safety hazard brought by automobiles cannot be ignored. Frequent lane changes by drivers are the most commonly encountered situation in driving vehicles in everyday life. For drivers, under special weather conditions, such as rainy days, snowy days, heavy fog and dim light at night, the drivers are most prone to traffic accidents under the conditions of fatigue driving and strange road conditions, and many traffic accidents occur during the life when the drivers change lanes. Therefore, the industry generally adopts an intelligent lane changing system to ensure the driving lane changing safety of a driver and prevent traffic accidents.
The current scheme of each big car host computer factory at present is mainly based on sensor detection rear vehicle information such as rear blind spot radar, ultrasonic radar, camera to calculate the time of collision in real time according to relative speed of a motor vehicle and relative distance, when there is the collision risk in-process when the driver changes the way, the system reminds the driver to pay attention to the risk through sound, alarm lamp scintillation etc.. The prior art scheme only plays the effect of reminding the driver through sound and alarm lamp to do not have the initiative danger-avoiding control of essence, can't avoid automatically when the collision risk exists, can only play the additional function to driver's safety. In special cases, for example, when the driver starts a music player, answers a call unit, or is windy, the alarm is easily ignored, and the function of protecting the driver cannot be achieved. In addition, if the driver is not familiar with the system in the vehicle, the driver cannot intervene in the control in time, and the driver cannot play a good protection role. In addition, the prior art only tries the high-speed road condition, and cannot play a good early warning role in low-speed driving.
Disclosure of Invention
In view of the above, the invention provides an intelligent lane change auxiliary system based on data fusion, which collects detection data of different sensors on a vehicle through an independent lane change control unit, fuses and processes detected effective information, judges collision risks by combining vehicle information, realizes an active collision avoidance function through modes of actively controlling steering of a steering wheel, actively accelerating an engine and the like when collision time is lower than a limit value, reminds a driver through a mode of pre-tightening a safety belt, prepares for collision, realizes a protection mechanism integrating active safety and passive safety, and truly realizes the purposes of intelligent driving and safe driving through data fusion and an active control technology.
The invention provides an intelligent lane changing auxiliary system which comprises a sensor, a lane changing control unit, an engine control unit, a steering control unit and an electric power steering unit, wherein the sensor is electrically connected with the lane changing control unit, and the steering control unit and the engine control unit are respectively electrically connected with the lane changing control unit; the lane changing control unit is used for receiving the environmental information transmitted by the sensor, calculating collision time in real time through the environmental information, when the collision time is smaller than a time set value, calculating a collision avoidance steering angle and a collision avoidance steering torque required by the vehicle according to the environmental information, and determining whether the steering control unit controls the electric power steering unit to steer or the engine control unit controls the vehicle to accelerate according to whether the collision avoidance steering torque is in a reasonable range, so that the vehicle is prevented from colliding with surrounding vehicles.
According to one embodiment of the present invention, the sensor includes a rear millimeter wave radar, a rear ultrasonic radar, and a front camera, the rear millimeter wave radar and the rear ultrasonic radar being used to detect environmental information between the vehicle and the surrounding vehicle behind in real time, and the front camera being used to detect environmental information between the vehicle and the surrounding vehicle ahead in real time.
According to one embodiment of the invention, the environmental information includes a longitudinal distance, a lateral distance, a relative speed, a relative acceleration, and a relative position between the vehicle and the surrounding vehicle. According to an embodiment of the present invention, the steering control unit calculates, in real time, a collision avoidance steering torque of a steering wheel, a collision avoidance steering angle of the steering wheel, and a change rate of the collision avoidance steering angle of the steering wheel, which need to be provided, according to a collision avoidance steering angle required by a vehicle, and transmits the calculated data to the electric power steering unit, and the electric power steering unit controls the steering wheel to steer according to the collision avoidance steering torque of the steering wheel, the collision avoidance steering angle, and the change rate of the collision avoidance steering angle, so that the vehicle is steered to avoid collision with the surrounding vehicle.
According to one embodiment of the invention, the lane change control unit searches the maximum allowable steering torque corresponding to the vehicle speed from a built-in steering instability threshold value lookup table according to the current vehicle speed of the vehicle, and if the collision avoidance steering torque required by the vehicle is smaller than the maximum allowable steering torque, the lane change control unit judges that the vehicle is in a stable driving state during steering; and if the collision avoidance steering torque required by the vehicle is larger than the maximum allowable steering torque, judging that the vehicle is in an unstable running state during steering.
According to an embodiment of the present invention, if the lane change control unit determines that the vehicle is in an unstable driving state when turning, the lane change control unit controls the front camera to detect whether there is a pedestrian or the surrounding vehicle in front of the vehicle, and when there is no pedestrian or the surrounding vehicle, the lane change control unit calculates a required acceleration and transmits acceleration control information to the engine control unit according to the required acceleration, and the engine control unit calculates an acceleration torque value according to the acceleration, calculates an increase accelerator opening value according to the acceleration torque value, and transmits the increase accelerator opening value to the engine, and controls the engine to increase the accelerator opening so that the vehicle accelerates to avoid collision with the surrounding vehicle.
According to an embodiment of the invention, the system further comprises an airbag control unit and a safety belt, the airbag control unit is electrically connected with the lane change control unit, the safety belt is electrically connected with the airbag control unit, the lane change control unit controls a front camera to detect whether a pedestrian or the surrounding vehicle exists in front of the vehicle when judging that the vehicle is in an unstable driving state during steering, the steering control unit transmits safety belt pre-tightening information to the airbag control unit when the pedestrian or the surrounding vehicle exists, and the airbag control unit controls the safety belt to be tightened within a set time to remind a driver.
According to one embodiment of the invention, the system further comprises an airbag, the airbag is electrically connected with the airbag control unit, the airbag has a folded state and a deployed state, the airbag control unit controls the airbag to be opened in the deployed state in advance by calculating the collision time and the collision injury value of the vehicle and the surrounding vehicle according to the vehicle speed of the vehicle when the safety belt is tightened within the set time.
According to an embodiment of the invention, the system further comprises a central entertainment unit, a sound output unit, a communication unit, a playing unit and a radio, wherein the central entertainment unit is electrically connected with the lane change control unit, the sound output unit is electrically connected with the central entertainment unit, the communication unit, the playing unit and the radio are electrically connected with the central entertainment unit, when the lane change control unit calculates that the collision time is less than a time set value, collision alarm information is transmitted to the central entertainment unit, and the central entertainment unit preferentially responds to the collision alarm information and controls the sound output unit to send out an alarm signal.
The invention also provides an intelligent lane change auxiliary method based on data fusion, which comprises the following steps: detecting environmental information between a vehicle and surrounding vehicles in real time by using a sensor, receiving the environmental information of the surrounding vehicles by using a lane change control unit, calculating collision time in real time, and judging that the vehicle has a collision risk when the calculated collision time is less than a time set value; when the vehicle has collision risk, calculating a collision avoidance steering angle and a collision avoidance steering torque required by the vehicle by using the lane changing control unit, and judging whether the collision avoidance steering torque is in a reasonable range; when the lane change control unit judges that the collision avoidance steering torque is within a reasonable range, the lane change control unit judges that the vehicle is in a stable driving state during steering, and the steering control unit controls the steering wheel to steer according to steering control information; or when the collision avoidance steering torque is not in a reasonable range, the vehicle is judged to be in an unstable running state during steering, the lane change control unit calculates the speed required to be increased by the vehicle based on the environmental information between the vehicle and the surrounding vehicle, and the engine control unit controls the engine to accelerate according to the acceleration control information so as to avoid the collision between the vehicle and the surrounding vehicle.
According to one embodiment of the present invention, the sensor includes a rear millimeter wave radar, a rear ultrasonic radar, and a front camera, and the step of detecting environmental information between the vehicle and the surrounding vehicle in real time with the sensor includes detecting environmental information between the vehicle and the surrounding vehicle behind in real time using the rear millimeter wave radar and the rear ultrasonic radar, and detecting a longitudinal distance, a lateral distance, a relative speed, a relative acceleration, and a relative position between the vehicle and the surrounding vehicle ahead in real time using the front camera.
According to an embodiment of the present invention, the step of controlling the steering of the steering wheel by the steering control unit according to the steering control information further includes: the steering control unit calculates the collision-avoidance steering torque of the steering wheel, the collision-avoidance steering angle of the steering wheel and the change rate of the collision-avoidance steering angle of the steering wheel which need to be provided in real time according to the collision-avoidance steering angle in the steering control information; and the steering control unit transmits a steering command to the electric power steering unit according to the calculated data, and the electric power steering unit controls the steering wheel to steer according to the steering wheel collision avoidance steering torque, the steering wheel collision avoidance steering angle and the steering wheel collision avoidance steering angle change rate in the steering command.
According to one embodiment of the invention, the lane change control unit searches the maximum allowable steering torque corresponding to the vehicle speed from a built-in steering instability threshold value lookup table according to the current vehicle speed of the vehicle, and if the collision avoidance steering torque required by the vehicle is smaller than the maximum allowable steering torque, the lane change control unit judges that the vehicle is in a stable driving state during steering; and if the collision avoidance steering torque required by the vehicle is larger than the maximum allowable steering torque, judging that the vehicle is in an unstable running state during steering.
According to one embodiment of the present invention, when the lane change control unit determines that the vehicle is in an unstable traveling state while turning, the front camera is controlled to detect whether there is a pedestrian or the surrounding vehicle in front of the vehicle; when there is no pedestrian or the surrounding vehicle, the lane change control unit calculates a required acceleration and transmits acceleration control information to the engine control unit; the engine control unit calculates an acceleration torque value according to the acceleration, calculates an accelerator opening increasing value according to the acceleration torque value, transmits the accelerator opening increasing value to the engine and controls the engine to increase the accelerator opening.
According to an embodiment of the present invention, when the steering control unit determines that the vehicle is in an unstable traveling state while steering, the front camera is controlled to detect whether there is a pedestrian or the surrounding vehicle in front of the vehicle; when a pedestrian or the surrounding vehicle exists, the lane change control unit controls the steering control unit to transmit safety belt pre-tightening information to the air bag control unit; the air bag control unit controls the safety belt to be tightened within a set time so as to remind a driver.
According to one embodiment of the invention, when the airbag control unit controls the seat belt to be tightened within a set time, the airbag control unit calculates the collision time and the collision damage value of the vehicle and the surrounding vehicle according to the vehicle speed of the vehicle, and controls the airbag to be opened in a deployed state in advance.
The invention utilizes different sensors, improves the reliability of system detection and the timeliness of system response through data fusion, integrates effective closed-loop control on the electric power steering and the engine control unit, actively controls steering of a steering wheel, actively speeds up an engine and the like under the condition of collision risk, effectively and actively avoids collision, and greatly improves the driving safety. Finally, the driver is actively reminded when collision risk exists by integrating safety belt pretension and the safety air bag controller, preparation is made for collision, and collision damage is effectively reduced by optimizing the explosion ignition time of the air bag under the condition that collision is inevitable, so that active and passive safety integrated protection is realized. When the risk exists, the system can actively restrain systems such as audio-video entertainment and communication units, and timely remind a driver of collision risk.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic diagram of a lane-changing auxiliary system based on data fusion provided by the invention.
Fig. 2A is a schematic view of an embodiment in which a vehicle and surrounding vehicles travel on a road.
Fig. 2B is a schematic diagram of another embodiment of a vehicle and two surrounding vehicles traveling on a road.
Fig. 2C is a schematic view of another embodiment of a vehicle and two surrounding vehicles traveling on a road.
FIG. 3 is a schematic diagram of a steering instability threshold lookup table of a vehicle.
Fig. 4 is a schematic flow chart of the intelligent lane change assisting method based on data fusion provided by the invention.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the predetermined objects, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1 and fig. 2A, fig. 1 is a diagram illustrating an intelligent lane-changing assisting system 100 based on data fusion according to the present invention. Fig. 2A is a schematic view of an example in which the vehicle 210 and a surrounding vehicle (first surrounding vehicle 220) travel on a road. In the present embodiment, the intelligent lane-change assisting system 100 based on data fusion is disposed on the vehicle 210 in fig. 2A.
As shown in fig. 1, the intelligent lane change assist system 100 includes a sensor 110, a lane change control unit 120, an engine control unit 130, a steering control unit 140, and an electric power steering unit 150. The sensor 110 is electrically connected to the lane-change control unit 120. The sensor 110 includes a rear millimeter wave radar 112, a rear ultrasonic radar 114, and a front camera 116. The steering control unit 140 is electrically connected to the lane-change control unit 120. The engine control unit 130 is electrically connected to the lane-change control unit 120. The sensor of the present invention may be a laser detection radar, a high definition camera, or the like, and any sensor related to the vehicle detection data fusion technology may be used as the sensor of the present invention, and is not limited to the sensor described in the present embodiment.
In the present embodiment, as shown in fig. 2A, the rear millimeter wave radar 112 and the rear ultrasonic radar 114 are used to detect environmental information between the vehicle 210 and the first surrounding vehicle 220 in real time. Since the rear millimeter wave radar 112 has a long detection distance but a low detection accuracy, the detection effectiveness is low at low speed, and the rear millimeter wave radar 112 is suitable for a road condition with a vehicle speed of more than 10km/h, and therefore the rear millimeter wave radar 112 is used for detecting vehicles 210 with a speed of more than 10 km/h. The rear ultrasonic radar can accurately detect information such as the position, the relative distance and the relative angle of a rear vehicle under the condition of low vehicle speed, and the minimum precision can reach 0.1m, so that the rear ultrasonic radar 114 is used for detecting the vehicle 210 at the speed of less than 10 kilometers per hour. Therefore, the system combines the characteristics of the millimeter wave radar and the ultrasonic radar, and can ensure the function of rear lane change and collision avoidance during low-speed and high-speed running.
Fig. 2B is a schematic diagram of another embodiment of a vehicle and two surrounding vehicles traveling on a road. As shown in fig. 2B, the front camera 116 is used to detect environmental information between the vehicle 210 and the second surrounding vehicle 230 in front in real time.
As shown in fig. 1 and 2A, the rear millimeter wave radar 112 or the rear ultrasonic radar 114 of the sensor 110 is used to detect environmental information between the vehicle 210 and the first surrounding vehicle 220 behind in real time. The environmental information may include relative travel information between the vehicle 210 and the first surrounding vehicle 220, such as longitudinal distance, lateral distance, relative speed, relative acceleration, and relative position. The lane change control unit 120 is configured to receive environment information transmitted by the rear millimeter wave radar 112 or the rear ultrasonic radar 114. The lane-change control unit 120 calculates a collision time t with the first surrounding vehicle 220 in real time based on the received environment informationcWhen time of collision tcLess than a time set value tdIn time, lane-change control unit 120 calculates a required collision avoidance steering angle a of vehicle 210 according to the environmental informationcAnd calculating the required collision-avoidance steering torque T according to the collision-avoidance steering angle AccIncluding and judging the collision avoidance steering torque TcWhether or not to be atWithin a reasonable range. In judging collision avoidance steering torque TcIf the current speed is within the reasonable range, the lane-change control unit 120 controls the lane-change control unit 120 according to the current speed V of the vehicle 2101The maximum allowable steering torque T corresponding to the vehicle speed is looked up from the built-in calibrated steering instability threshold lookup table (shown in FIG. 3) of the vehicle 210maxIf collision avoidance steering torque TcLess than the maximum allowable steering torque TmaxThen it is determined that the vehicle 210 is in a stable running state while turning.
When the lane change control unit 120 determines the collision avoidance steering torque TcWhen the vehicle is within the reasonable range, the lane change control unit 120 determines that the vehicle 210 may be in a stable driving state when turning, and thus determines that an automatic steering collision avoidance scheme may be adopted. If the lane change control unit 120 determines that the automatic steering collision avoidance scheme can be adopted, the lane change control unit will include the required collision avoidance steering torque TcThe steering control information is transmitted to the steering control unit 140, and the steering control unit 140 controls the steering wheel 160 to perform a steering collision avoidance procedure according to the received steering control information.
The steering control unit 140 controls the steering angle A according to the collision avoidance in the steering control informationcCalculating in real time the steering angle A to be controlled for the vehicle 210 to turn to collision avoidancecThe steering torque T of the steering wheel 160, the steering angle a of the steering wheel 160, and the change rate Δ a of the steering angle of the steering wheel 160, which need to be provided, transmit a steering command to the electric power steering unit 150 according to the calculated data, and the electric power steering unit 150 controls the steering wheel 160 to steer according to the steering torque T of the steering wheel, the steering angle a of the steering wheel, and the change rate Δ a of the steering angle of the steering wheel in the steering command, so that the vehicle 210 is steered to the first peripheral vehicle 220 behind the collision avoidance.
In one embodiment, please refer to fig. 1 and fig. 2A, when the lane change control unit 120 determines the collision avoidance steering torque TcIf the distance is not within the reasonable range, it is determined that the vehicle 210 will be in an unstable driving state if the vehicle 210 adopts the automatic steering collision avoidance scheme, and at this time, the lane change control unit 120 controls the front camera 116 to detect whether there is a pedestrian or the surrounding vehicle in front of the vehicle 210, and the current direction isWhen no pedestrian or surrounding vehicle is detected, it is determined that a safety zone exists ahead, and when the safety zone exists ahead, the lane change control unit 120 selects to adopt an automatic acceleration collision avoidance scheme.
When lane change control unit 120 is to select the automatic acceleration collision avoidance scheme, lane change control unit 120 calculates an acceleration required for vehicle 210 to avoid a collision with first peripheral vehicle 220 based on environmental information between vehicle 210 and first peripheral vehicle 220, and transmits acceleration control information to engine control unit 130. The engine control unit 130 calculates an acceleration torque value according to an acceleration in the acceleration control information, calculates an accelerator opening increasing value according to the acceleration torque value, and the engine control unit 130 transmits the accelerator opening increasing value to the engine 132, controls the engine 132 to increase the accelerator opening, accelerates the vehicle 210, and can prevent the vehicle 210 from colliding with the first surrounding vehicle 220 by accelerating the vehicle 210.
In one embodiment, fig. 2C is a schematic view of another embodiment of a vehicle and two surrounding vehicles traveling on a road. As shown in fig. 2C, the vehicle 210 runs the third surrounding vehicle 240 forward and runs the first surrounding vehicle 220 backward. Referring to fig. 1 and 2C, when the lane change control unit 120 determines that the collision avoidance steering torque Tc is not within the reasonable range, it is determined that the vehicle 210 will be in an unstable driving state if the vehicle 210 adopts the automatic steering collision avoidance scheme, at this time, the lane change control unit 120 controls the front camera 116 to detect whether there is a pedestrian or a surrounding vehicle in front of the vehicle 210, and when there is a third surrounding vehicle 240 detected in the front and the collision cannot be avoided by acceleration, the lane change control unit 120 selects to adopt a scheme of pre-tightening a seat belt and optimizing an airbag point explosion time.
When the lane change control unit 120 selects to adopt the scheme of seat belt pre-tightening and optimizing the air bag detonation time, the lane change control unit 120 sends a seat belt pre-tightening instruction to the air bag control unit 170, so that the seat belt pre-tightening protection is realized, meanwhile, the air bag detonation time parameter is optimized, and the collision damage is reduced.
The air bag control unit 170 is electrically connected to the lane change control unit 120, and the air bag 172 and the seat belt 174 are electrically connected to the air bag control unit 170, respectively. When the lane change control unit 120 selects to adopt the seat belt pretension and optimize the air bag detonation time scheme, the lane change control unit 120 transmits the seat belt pretension information to the air bag control unit 170, and the air bag control unit 170 controls the seat belt 174 to tighten within the set time to remind the driver. In this embodiment, the airbag control unit 170 controls the tightening of the seat belt 174 within 100 milliseconds of the set time. The set time can be set to any time value according to requirements. The airbag 172 has a folded state and a deployed state, and when the airbag control unit 170 controls the seat belt 174 to be tightened within a set time, the airbag control unit 170 calculates a collision time and a collision damage value between the vehicle 210 and the first surrounding vehicle 220 according to a vehicle speed V1 of the vehicle 210, controls the airbag 172 to be opened in the deployed state by advanced explosion, and protects a driver in the collision.
In one embodiment, as shown in fig. 1, the intelligent lane-changing assisting system 100 further includes a central entertainment unit 180, a sound output unit 182, a communication unit 184, a playing unit 186 and a radio 188. The central entertainment unit 180 is electrically connected to the lane-change control unit 120. The sound output unit 182 is electrically connected to the central entertainment unit 180. The communication unit 184, the playing unit 186 and the radio 188 are electrically connected to the central entertainment unit 180, and when the lane change control unit 120 calculates that the collision time is less than the time setting value, the collision warning information is transmitted to the central entertainment unit 180, the central entertainment unit 180 presets the priority level of the collision warning information as a first priority level, the priority level of the telephone sound source information of the communication unit 184 as a second priority level, the priority level of the playing unit sound source information of the playing unit 186 as a third priority level, and the priority level of the radio sound source information of the radio 188 as a fourth priority level. It should be noted that the first priority level is higher than the second priority level, the second priority level is higher than the third priority level, and the third priority level is higher than the fourth priority level. The central entertainment unit 180 dials the sound source information from high to low in order of the rank according to the priority order of the rank. When there is a risk of vehicle collision when changing lanes during driving, the lane change control unit 120 may send collision risk alarm information to the central entertainment unit 180 through the entire vehicle network, and the central entertainment unit 180 may preferentially respond to the alarm information, suppress other applications (the call unit 184, the playing unit 186, the radio 188, and the like), ensure that the priority of the alarm information is highest, and timely notify the driver when there is a risk.
Referring to fig. 1, 2A, 2B, 2C and fig. 4, as shown in fig. 4, the intelligent lane change assisting method based on data fusion provided by the present invention includes:
step S100, detecting the environmental information between the vehicle 210 and the first surrounding vehicle 220 in real time by the sensor 110, receiving the environmental information of the first surrounding vehicle 220 by the lane-change control unit 120, and calculating the collision time t in real timecWhen the calculated time of collision tcLess than a time set value tdThe vehicle 210 is at risk of a collision. The sensor 110 detects the environmental information between the vehicle 210 and the first surrounding vehicle 220 in real time, the rear millimeter wave radar 112 and the rear ultrasonic radar 114 can detect the environmental information between the vehicle 210 and the rear first surrounding vehicle 220 in real time, and the front camera 116 can detect the longitudinal distance, the lateral distance, the relative speed, the relative acceleration and the relative position between the vehicle 210 and the front third surrounding vehicle 240 in real time.
Step S200, the lane-changing control unit 120 calculates the required collision avoidance steering angle Ac of the vehicle and the collision avoidance steering torque TcAnd judging the collision avoidance steering torque TcWhether within a reasonable range. In judging collision avoidance steering torque TcIf the current speed is within the reasonable range, the lane-change control unit 120 controls the lane-change control unit 120 according to the current speed V of the vehicle 2101And searching the maximum allowable steering torque T corresponding to the vehicle speed from a built-in steering instability threshold value searching tablemaxIf collision avoidance steering torque TcLess than the maximum allowable steering torque TmaxThen the vehicle 210 is considered to be in a steady running state while turning.
When the lane change control unit 120 determines the collision avoidance steering torque TcWithin a reasonable range, the vehicle 210 can be in a stable driving state when turning, and the lane-changing control unit 120 sends steering control information (including the required collision-avoidance steering angle Ac and the required collision-avoidance steering torque T of the vehicle) to the steering control unit 140c) The steering control unit 140 controls the steering wheel 160 according to the steering control informationAnd (6) turning.
When the lane change control unit 120 determines that the vehicle 210 can be in a stable driving state during steering, the steering control unit 140 calculates the collision avoidance steering torque T of the steering wheel 160, the collision avoidance steering angle a of the steering wheel 160, and the collision avoidance steering angle change rate Δ a of the steering wheel 160 in real time according to the collision avoidance steering angle Ac in the steering control information, and generates a steering command including the above information at step S300.
In step S400, the steering control unit 140 transmits a steering command to the electric power steering unit 150.
Step S500, the electric power steering unit 150 controls the steering wheel 160 to steer according to the steering wheel collision avoidance steering torque T, the steering wheel collision avoidance steering angle A and the steering wheel collision avoidance steering angle change rate Delta A in the steering command. The vehicle 210 is steered to avoid the first surrounding vehicle 220 behind the collision.
In one embodiment, if the lane-change control unit 120 determines the current speed V of the vehicle 2101The maximum allowable steering torque T corresponding to the vehicle speed found by the steering instability threshold value lookup tablemaxMaximum allowable steering angle AmaxOr maximum allowable rate of change of steering angle ΔmaxLess than the required collision avoidance steering torque T of the vehicle 210cCollision avoidance steering angle AcOr the rate of change of the steering angle Δ AcMeanwhile, the lane-change control unit 120 determines that the vehicle 210 is in an unstable traveling state while turning.
When the lane-change control unit 120 determines that the vehicle is in an unstable-running state while turning, the front camera 116 is controlled to detect whether there is a pedestrian or a surrounding vehicle in front of the vehicle 210 at step S600.
When there is no pedestrian or the surrounding vehicle, the lane-change control unit 120 calculates a required acceleration and transmits acceleration control information to the engine control unit 150 at step S700.
And step S710, the engine control unit 130 calculates an acceleration torque value according to the required acceleration, calculates an accelerator opening increasing value according to the acceleration torque value and the current accelerator opening, and the engine control unit 130 transmits the accelerator opening increasing value to the engine 132 and controls the engine to increase the accelerator opening. The vehicle 210 is accelerated, and the vehicle 210 is accelerated to avoid collision with the first surrounding vehicle 220.
In one embodiment, as shown in FIG. 2C, when there is a pedestrian or the surrounding vehicle, the lane-change control unit 120 transmits the seatbelt pretension information to the airbag control unit 170 at step S800.
In step S810, the airbag control unit 170 controls the seat belt 174 to be tightened within a set time to alert the driver.
Step S820, when the air bag control unit 170 controls the seat belt 174 to be tightened within the set time, the air bag control unit 170 controls the seat belt according to the vehicle speed V of the vehicle 2101The collision time and the collision damage value between the vehicle 210 and the third surrounding vehicle 240 are calculated, and the airbag 172 is controlled to be opened in the deployed state in advance.
In conclusion, the invention comprehensively judges the collision risk by utilizing the data detected by different sensors integrated on the whole vehicle, improves the detection accuracy, reduces the misjudgment of the system, can be used for low-speed and high-speed road conditions, enlarges the application range of the system, integrates active steering, acceleration and active pre-tightening of the safety belt, optimizes the explosion time of the air bag and the like, and reduces the collision damage. When collision risks exist, the system informs the central control entertainment unit through signals, inhibits music, a radio, a communication unit and the like, enables a driver to find the risks in time, realizes a protection mechanism integrating active safety and passive safety, and really realizes the purposes of intelligent driving and safe driving through data fusion and active control technologies.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (16)

1. An intelligent lane changing auxiliary system based on data fusion is arranged on a vehicle and is characterized by comprising a sensor, a lane changing control unit, an engine control unit, a steering control unit and an electric power steering unit, wherein the sensor is electrically connected with the lane changing control unit, the steering control unit and the engine control unit are respectively electrically connected with the lane changing control unit, and the sensor is used for detecting environmental information between the vehicle and surrounding vehicles in real time; the lane changing control unit is used for receiving the environmental information transmitted by the sensor, calculating collision time in real time through the environmental information, when the collision time is smaller than a time set value, calculating a collision avoidance steering angle and a collision avoidance steering torque required by the vehicle according to the environmental information, and determining whether the steering control unit controls the electric power steering unit to steer or the engine control unit controls the vehicle to accelerate according to whether the collision avoidance steering torque is in a reasonable range, so that the vehicle is prevented from colliding with surrounding vehicles.
2. The intelligent lane-changing auxiliary system according to claim 1, wherein: the sensor includes rear millimeter wave radar, rear ultrasonic radar and place ahead camera, rear millimeter wave radar and rear ultrasonic radar is used for real-time detection vehicle and rear the environmental information between the vehicle of every side, the place ahead camera is used for real-time detection vehicle and the place ahead environmental information between the vehicle of every side.
3. The intelligent lane-changing auxiliary system according to claim 2, wherein: the environmental information includes a longitudinal distance, a lateral distance, a relative speed, a relative acceleration, and a relative position between the vehicle and the surrounding vehicle.
4. The intelligent lane-changing auxiliary system according to claim 1, wherein: the steering control unit calculates collision avoidance steering torque of a steering wheel, the collision avoidance steering angle of the steering wheel and the change rate of the collision avoidance steering angle of the steering wheel which need to be provided in real time according to the collision avoidance steering angle required by the vehicle, and transmits the calculated data to the electric power steering unit, and the electric power steering unit controls the steering wheel to steer according to the collision avoidance steering torque, the collision avoidance steering angle and the change rate of the collision avoidance steering angle of the steering wheel, so that the vehicle can steer to avoid colliding with surrounding vehicles.
5. The intelligent lane-changing auxiliary system according to claim 1, wherein: the lane change control unit searches the maximum allowable steering torque corresponding to the vehicle speed from a built-in steering instability threshold value lookup table according to the current vehicle speed of the vehicle, and if the collision avoidance steering torque required by the vehicle is smaller than the maximum allowable steering torque, the lane change control unit judges that the vehicle is in a stable driving state during steering; and if the collision avoidance steering torque required by the vehicle is larger than the maximum allowable steering torque, judging that the vehicle is in an unstable running state during steering.
6. The intelligent lane-changing auxiliary system according to claim 5, wherein: if the lane change control unit judges that the vehicle is in an unstable driving state when turning, the lane change control unit controls a front camera to detect whether a pedestrian or the surrounding vehicle exists in front of the vehicle, when no pedestrian or the surrounding vehicle exists, the lane change control unit calculates required acceleration and transmits acceleration control information to the engine control unit according to the required acceleration, the engine control unit calculates an acceleration torque value according to the acceleration, calculates an increased accelerator opening value according to the acceleration torque value and transmits the increased accelerator opening value to the engine, and the engine is controlled to increase the accelerator opening so that the vehicle accelerates to avoid collision with the surrounding vehicle.
7. The intelligent lane-changing auxiliary system according to claim 5, wherein: the safety control device comprises an airbag control unit and a safety belt, wherein the airbag control unit is electrically connected with a lane changing control unit, the safety belt is electrically connected with the airbag control unit, the lane changing control unit judges whether a pedestrian exists in the front of the vehicle or the surrounding vehicle when the vehicle is in an unstable driving state during steering, a front camera is controlled to detect whether the pedestrian exists in the front of the vehicle or the surrounding vehicle, when the pedestrian exists or the surrounding vehicle, the steering control unit transmits safety belt pre-tightening information to the airbag control unit, and the airbag control unit controls the safety belt to be tightened in set time to remind a driver.
8. The intelligent lane-changing auxiliary system of claim 7, wherein: the safety belt retractor further comprises an air bag, the air bag is electrically connected with the air bag control unit, the air bag has a folded state and an unfolded state, when the air bag control unit controls the safety belt to be tightened within a set time, the air bag control unit calculates the collision time and the collision injury value of the vehicle and the surrounding vehicles according to the speed of the vehicle, and controls the air bag to be opened in the unfolded state in advance.
9. The intelligent lane-changing auxiliary system according to claim 1, wherein: more include central authorities 'amusement unit, sound output unit, conversation unit, broadcast unit and radio, central authorities' amusement unit with the lane change the control unit electricity is connected, sound output unit with central authorities 'amusement unit electricity is connected, the conversation unit the broadcast unit and the radio with central authorities' amusement unit electricity is connected, works as lane change the control unit and calculates when the collision time is less than the time set value, conveys collision alarm information and gives central authorities 'amusement unit, central authorities' amusement unit is preferred to respond collision alarm information, control sound output unit sends alarm signal.
10. An intelligent lane change auxiliary method based on data fusion is characterized by comprising the following steps:
detecting environmental information between a vehicle and surrounding vehicles in real time by using a sensor, receiving the environmental information of the surrounding vehicles by using a lane change control unit, calculating collision time in real time, and judging that the vehicle has a collision risk when the calculated collision time is less than a time set value;
when the vehicle has collision risk, calculating a collision avoidance steering angle and a collision avoidance steering torque required by the vehicle by using the lane changing control unit, and judging whether the collision avoidance steering torque is in a reasonable range;
when the lane change control unit judges that the collision avoidance steering torque is within a reasonable range, the lane change control unit judges that the vehicle is in a stable driving state during steering, and the steering control unit controls the steering wheel to steer according to steering control information; or when the collision avoidance steering torque is not in a reasonable range, the vehicle is judged to be in an unstable running state during steering, the lane change control unit calculates the speed required to be increased by the vehicle based on the environmental information between the vehicle and the surrounding vehicle, and the engine control unit controls the engine to accelerate according to the acceleration control information so as to avoid the collision between the vehicle and the surrounding vehicle.
11. The intelligent lane-changing assisting method according to claim 10, wherein the sensors include a rear millimeter wave radar, a rear ultrasonic radar, and a front camera, and the step of detecting the environmental information between the vehicle and the surrounding vehicle in real time with the sensors includes detecting the environmental information between the vehicle and the surrounding vehicle behind in real time with the rear millimeter wave radar and the rear ultrasonic radar, and detecting the longitudinal distance, the lateral distance, the relative speed, the relative acceleration, and the relative position between the vehicle and the surrounding vehicle ahead in real time with the front camera.
12. The intelligent lane change assisting method according to claim 10, wherein the step of controlling the steering of the steering wheel by the steering control unit according to the steering control information further comprises:
the steering control unit calculates the collision-avoidance steering torque of the steering wheel, the collision-avoidance steering angle of the steering wheel and the change rate of the collision-avoidance steering angle of the steering wheel which need to be provided in real time according to the collision-avoidance steering angle in the steering control information; and
and the steering control unit transmits a steering command to the electric power steering unit according to the calculated data, and the electric power steering unit controls the steering wheel to steer according to the steering wheel collision avoidance steering torque, the steering wheel collision avoidance steering angle and the steering wheel collision avoidance steering angle change rate in the steering command.
13. The intelligent lane change assisting method according to claim 10, wherein: the lane change control unit searches the maximum allowable steering torque corresponding to the vehicle speed from a built-in steering instability threshold value lookup table according to the current vehicle speed of the vehicle, and if the collision avoidance steering torque required by the vehicle is smaller than the maximum allowable steering torque, the lane change control unit judges that the vehicle is in a stable driving state during steering; and if the collision avoidance steering torque required by the vehicle is larger than the maximum allowable steering torque, judging that the vehicle is in an unstable running state during steering.
14. The intelligent lane change assisting method according to claim 11, wherein: when the lane change control unit judges that the vehicle is in an unstable running state during steering, the front camera is controlled to detect whether pedestrians or surrounding vehicles exist in front of the vehicle;
when there is no pedestrian or the surrounding vehicle, the lane change control unit calculates a required acceleration and transmits acceleration control information to the engine control unit;
the engine control unit calculates an acceleration torque value according to the acceleration, calculates an accelerator opening increasing value according to the acceleration torque value, transmits the accelerator opening increasing value to the engine and controls the engine to increase the accelerator opening.
15. The intelligent lane change assisting method according to claim 11, wherein: when the steering control unit judges that the vehicle is in an unstable running state during steering, the front camera is controlled to detect whether a pedestrian or the surrounding vehicle exists in front of the vehicle;
when a pedestrian or the surrounding vehicle exists, the lane change control unit controls the steering control unit to transmit safety belt pre-tightening information to the air bag control unit;
the air bag control unit controls the safety belt to be tightened within a set time so as to remind a driver.
16. The intelligent lane change assisting method according to claim 15, wherein: when the air bag control unit controls the safety belt to be tightened within a set time, the air bag control unit calculates the collision time and the collision injury value of the vehicle and the surrounding vehicles according to the speed of the vehicle, and controls the air bag to be opened in a deployed state in advance.
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