CN108032825B - Intelligent automobile anti-collision device and control method - Google Patents
Intelligent automobile anti-collision device and control method Download PDFInfo
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- CN108032825B CN108032825B CN201810033609.7A CN201810033609A CN108032825B CN 108032825 B CN108032825 B CN 108032825B CN 201810033609 A CN201810033609 A CN 201810033609A CN 108032825 B CN108032825 B CN 108032825B
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- 238000000034 method Methods 0.000 title claims abstract description 29
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- 239000004033 plastic Substances 0.000 claims description 13
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- 229910000831 Steel Inorganic materials 0.000 claims description 8
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- 239000000835 fiber Substances 0.000 claims description 7
- 230000008569 process Effects 0.000 description 9
- 230000003139 buffering effect Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- 230000006378 damage Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/18—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact
- B60R19/20—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact containing mainly gas or liquid, e.g. inflatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
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Abstract
The invention discloses an intelligent automobile anti-collision device, which comprises: a bumper body including a bumper precursor and a bumper rear body, the bumper body having first and second recesses recessed inwardly; the decorative layer is fixed inside the first groove in a matching way; a plurality of cushion layers which are matingly installed inside the second groove with a gap therebetween; an airbag layer fixed in a gap between the cushion layers; the air pressure sensor is electrically connected with the air bag layer and is used for monitoring air pressure in the air pressure layer; the vehicle speed sensor is used for monitoring the vehicle speed; the feedback device comprises an in-vehicle display screen and a voice broadcasting device; and the controller is used for electrically feeding back the device, the laser radar, the ultrasonic radar, the air pressure sensor and the vehicle speed sensor. The invention discloses a control method of an intelligent automobile anti-collision device.
Description
Technical Field
The invention relates to the field of automobile anti-collision safety, in particular to an intelligent automobile anti-collision device and a control method.
Background
In recent years, with the increasing total amount of automobiles, automobiles are becoming an indispensable vehicle. Many traffic safety accidents occur every day, so that life and property losses of people are caused, and according to incomplete statistics, the traffic accidents account for more than 50% of the total number of accidental deaths, and the number of deaths caused by the traffic accidents in China reaches more than 10 ten thousand per year. Automobile safety is increasingly of interest. Therefore, the research on the anti-collision device and the anti-collision system of the automobile accords with the current trend, and the safety of the automobile in the driving process can be effectively improved.
In the field of automobile anti-collision safety, many people have made related studies. In patent number CN106019308A, an automobile anti-collision system and a control method based on a laser radar, the relative track of an obstacle and an automobile is detected by the laser radar, so that the collision prediction is more accurate. In the patent number CN101445086A, the protection of automobile passengers is realized by absorbing impact energy through a soft cushion layer and a spring layer. In the patent number CN105984411A, the collision force becomes slow and uniform through the decorative cloth, the sponge and the rubber body, and the safety of the vehicles and the people is ensured. In the patent number CN104369707A, the damage degree to the automobile is reduced in a multi-layer buffer mode, the damage to the human body when an automobile accident occurs is avoided, and the safety performance is improved. The above researches are conducted on the automobile anti-collision system from the aspects of automobile collision prediction, collision energy absorption, human body injury reduction and the like, so that the safety in the automobile driving process is improved, and the injury to drivers and passengers is reduced.
In the aspect of automobile collision safety, some methods are mainly adopted from the two aspects of active safety and passive safety. Some automotive anti-collision systems are considered from an active safety perspective, and bumpers and anti-collision devices are considered from a passive safety perspective. Most of the existing automobile anti-collision systems adopt a laser radar or ultrasonic ranging method to detect the position track of a front automobile, and cannot well process a rear automobile. The bumpers are made of plastic materials, so that the bumpers deform and fall off when the automobile is impacted, the structure is single, the buffering effect is relatively poor, and the energy absorption buffering effect is not ideal because the cushion and the spring are adopted in some anti-collision devices designed at present. For passenger cars and trucks, a collision preventing device capable of bearing strong impact force is particularly important due to the large inertia of the collision preventing device. Therefore, the design of the intelligent anti-collision device which can detect complex road conditions, absorb huge energy generated by collision and automatically alarm is a technical problem to be solved in the field of automobile anti-collision safety.
Disclosure of Invention
The invention designs and develops an intelligent automobile anti-collision device, and aims to be conveniently installed on an automobile to replace a conventional bumper so as to absorb huge collision force generated by collision and reduce collision force.
The invention designs and develops a control method of an intelligent automobile anti-collision device, and one of the purposes of the invention is to judge the speed and track of a front automobile and a rear automobile and give corresponding reminding to the driver of the automobile and the driver of the rear automobile.
The second purpose of the invention is to provide more accurate pre-judgment and reminding for the driver of the vehicle and the driver of the rear vehicle by establishing a fuzzy control model.
The technical scheme provided by the invention is as follows:
an intelligent car collision avoidance device, comprising:
a bumper body comprising a bumper precursor and a bumper rear body, the bumper body having first and second recesses recessed inwardly;
the decorative layer is matched and fixed inside the first groove;
a plurality of cushion layers which are matingly installed inside the second groove with a gap therebetween;
an airbag layer fixed in a gap between the soft cushion layers;
wherein a laser radar mounting groove is arranged at the center of the bumper precursor and penetrates through the bumper precursor and the decorative layer for mounting a laser radar; an ultrasonic radar mounting groove is formed in the upper portion of the bumper rear body, penetrates through the bumper rear body and the decorative layer, and is used for mounting a warning light band and an ultrasonic radar;
an air pressure sensor electrically coupled to the air bag layer for monitoring air pressure within the air pressure layer;
the vehicle speed sensor is used for monitoring the vehicle speed;
the feedback device comprises an in-vehicle display screen and a voice broadcasting device;
and the controller is electrically connected with the feedback device, the laser radar, the ultrasonic radar, the air pressure sensor and the vehicle speed sensor.
Preferably, the airbag layer includes:
the air seats are provided with air charging holes, and gaps are formed among the air seats; and
and a plurality of air columns disposed in the gaps between the air seats.
Preferably, the method further comprises: and a steel wire fiber layer disposed between the cushion layer and the airbag layer.
Preferably, the two sides of the bumper body are provided with lamp covers; and
the bumper body and the decorative layer are provided with through holes.
A control method of an intelligent automobile anti-collision device, which comprises the following steps:
step one, collecting data, namely detecting the distance between a front vehicle and the speed of the front vehicle through a laser radar, detecting the distance between a rear vehicle and the speed of the rear vehicle through an ultrasonic radar, detecting the speed of the vehicle through a vehicle speed sensor, and detecting the air pressure of an air bag layer through an air pressure sensor;
step two, the controller judges whether the distance between the front vehicle and the rear vehicle is greater than the safety distance, and then controls the following steps:
if the distance between the front vehicle and the distance between the rear vehicle are both greater than the safe distance, the driver is not required to be warned;
if the distance between the front vehicle and the front vehicle is smaller than the front safety distance, the voice broadcasting device gives an alarm to the driver;
if the rear vehicle distance is less than the rear safety distance, the warning light band begins to flash according to the rear distance, comprising: when the distance between the rear vehicles is greater than two thirds of the safety distance behind the vehicles, the warning light band flashes at the frequency of 3 Hz; when the distance between the rear vehicle and the vehicle is between one third and two thirds of the safety distance behind the vehicle, the warning light band flashes at the frequency of 2 Hz; when the distance between the rear vehicles is less than one third of the safety distance between the rear vehicles, the warning light belt flashes at the frequency of 1 Hz;
step three, when the current vehicle distance is smaller than the front safety distance, if the controller judges that the driver does not adjust, the controller sends out a signal to forcedly slow down and brake the vehicle;
wherein, the safe distance is: when the vehicle speed is greater than 10km/h, the front safety distance is 3m and one thousandth of the vehicle speed per hour of the own vehicle minus the vehicle speed per hour of the front vehicle takes a larger value, and when the vehicle speed is less than 10km/h, the front safety distance takes 0.5m; when the vehicle speed is greater than 10km/h, the safety distance behind the vehicle is 3m, and the greater value is taken from one thousandth of the vehicle speed per hour of the vehicle minus the vehicle speed per hour of the vehicle; when the vehicle speed is less than 10km/h, the safety distance behind the vehicle is 0.5m.
A control method of an intelligent automobile anti-collision device, which comprises the following steps:
step one, collecting data, namely detecting the distance between a front vehicle and the speed of the front vehicle through a laser radar, detecting the distance between a rear vehicle and the speed of the rear vehicle through an ultrasonic radar, detecting the speed of the vehicle through a vehicle speed sensor, and detecting the air pressure of an air bag layer through an air pressure sensor;
step two, the controller judges whether the front vehicle distance, the front safety distance, the rear vehicle distance and the rear safety distance are subjected to early warning or not and controls as follows:
if the pre-warning is required according to the distance between the front vehicle and the front safety distance of the front vehicle, the voice broadcasting device gives a warning to the driver;
if the warning is required according to the rear vehicle distance and the rear safety distance, the warning light band starts to flash according to the rear distance;
and step three, if the controller judges that the driver does not adjust, the controller sends out a signal to forcedly slow down and brake the vehicle.
Preferably, in the second step, fuzzy control is adopted to output the first early warning probability Q respectively 1 And a second early warning probability Q 2 Further judging whether to perform early warning or not, comprising the following steps:
respectively the difference DeltaS between the front safety distance and the front distance 1 Relative speed DeltaV of the host vehicle and the front vehicle 1 First early warning probability Q 1 Converting into quantization levels in the ambiguity domain; the difference DeltaS between the front safety distance and the front distance 1 Relative speed DeltaV of own vehicle and front vehicle 1 Inputting a fuzzy control model, and uniformly dividing the fuzzy control model into 7 grades; the fuzzy control model is output as the first early warning probability Q 1 The classification is 5 grades; according to the first early warning probability Q 1 Judging whether to send out a voice broadcasting device early warning to a driver; and
respectively the difference DeltaS between the rear safety distance and the rear distance 2 Relative speed DeltaV of rear vehicle and own vehicle 2 Second early warning probability Q 2 Converting into quantization levels in the ambiguity domain; the difference DeltaS between the rear safety distance and the rear distance 2 Relative speed DeltaV of rear vehicle and own vehicle 2 Inputting a fuzzy control model, and uniformly dividing the fuzzy control model into 7 grades; the fuzzy control model is output as the second early warning probability Q 2 The classification is 5 grades; according to the second early warning probability Q 2 Judging whether the warning light band flashes.
Preferably, the difference DeltaS between the front safety distance and the front distance 1 The domain of (2) is [ -80, 80]Relative speed DeltaV of the host vehicle and the front vehicle 1 The domain of (2) is [ -60, 60]The first early warning probability Q 1 The domain of discussion of (1) is [0,1 ]]Setting the quantization factors to be 1, and setting the first early warning probability Q 1 The threshold value of (2) is one of 0.44 to 0.53; and
difference deltas between the vehicle rear safety distance and the rear vehicle distance 2 The domain of (2) is [ -80, 80]Relative speed DeltaV of rear vehicle and own vehicle 2 The domain of (2) is [ -60, 60]The second early warning probability Q 2 The domain of discussion of (1) is [0,1 ]]Setting the quantization factors to be 1, and setting the second early warning probability Q 2 The threshold value of (2) is one of 0.49 to 0.57.
Preferably, the difference DeltaS between the front safety distance and the front distance 1 The fuzzy set of (a) is { NB, NM, NS, ZO, PS, PM, PB }, the relative speed DeltaV of the host vehicle and the front vehicle 1 Is { NB, NM, NS, ZO, PS, PM, PB }, the first early warning probability Q 1 Is { S, SM, M, MB, B }; the membership functions are triangular functions; and
the difference delta S between the rear safety distance and the rear distance 2 The fuzzy set of (a) is { NB, NM, NS, ZO, PS, PM, PB }, and the relative speed DeltaV of the rear vehicle and the own vehicle 2 The fuzzy set of (2) is { NB, NM, NS, ZO, PS, PM, PB }, the second early warning probability Q 2 Is { S, SM, M, MB, B }; the membership functions are trigonometric functions.
Preferably, respectively toThe first early warning probability Q 1 And the second early warning probability Q 2 Experience correction is carried out to obtain first correction early warning probability Q 1 ' and second correction early warning probability Q 2 ' comprising the following correction procedure:
when (when)V 0 ＞V 1 At the time, the first correction early warning probability Q 1 ' make the following corrections:
when (when)V 2 ＞V 0 At the time, early warning probability Q is corrected for the second correction 2 ' make the following corrections:
wherein S is 1 For the distance of the front car S S1 For the front safety distance of the car S 2 For the distance of the rear vehicle S S2 V' is the empirical correction speed, lambda, for the safe distance behind the vehicle 1 、λ 2 、λ 3 、γ 1 、γ 2 、γ 3 Are all empirical correction coefficients; v' is 45-60 km/h, lambda 1 The value range of (a) is 1.18-1.22, lambda 2 The value range of (a) is 1.21-1.24, lambda 3 The value range of (2) is 1.25-1.28, gamma 1 The value range of (2) is 1.03-1.06, gamma 2 The value range of (2) is 1.11-1.14, gamma 3 The range of the value of (2) is 1.22-1.24.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention adopts the layered structure of the anti-collision body, and overcomes the defect of poor shock absorption and buffering effects of the traditional bumper by absorbing huge energy generated during collision through the soft cushion layer, the rubber skin layer, the steel wire fiber layer and the air bag layer with a special structure;
2. the air bag layer is detected by the self-contained air pressure sensor, so that the air bag layer is convenient for a user to supplement air pressure in time, is favorable for replacing the air bag layer, and prolongs the service life;
3. the electronic system can establish a fuzzy control model according to the vehicle distance and the vehicle speed in front and behind so as to carry out judgment control, give corresponding prompts to the vehicle behind and the driver of the vehicle, and facilitate reasonable measures;
4. the electronic system can also carry out forced deceleration braking on the automobile when a driver cannot take corresponding measures in time, so that accidents are prevented to the greatest extent.
Drawings
Fig. 1 is a schematic view of a front bumper structure of an intelligent automobile bumper according to the present invention.
Fig. 2 is a schematic view of a rear bumper structure of an intelligent automobile anti-collision device according to the present invention.
Fig. 3 is a schematic diagram of an airbag layer structure of an intelligent automobile anti-collision device according to the invention.
Fig. 4 is a schematic diagram of air column distribution of an air bag layer of the intelligent automobile anti-collision device.
Fig. 5 is a schematic structural diagram of an electronic system of an intelligent automobile anti-collision device according to the present invention.
Fig. 6 is a flowchart of a control method of an intelligent automobile anti-collision device according to the present invention.
FIG. 7 is a membership function of the difference between the front safety distance and the front distance.
FIG. 8 is a membership function of the relative vehicle speed of the host vehicle and the preceding vehicle.
FIG. 9 is a membership function of a first warning probability.
FIG. 10 is a membership function of the difference between the post-vehicle safety distance and the post-vehicle distance.
FIG. 11 is a membership function of the relative vehicle speed of a rear vehicle to the host vehicle.
FIG. 12 is a membership function of a second warning probability.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
As shown in fig. 1 to 5, the present invention provides an intelligent automobile crash apparatus, comprising a crash main body and an electronic system, the crash main body comprising a crash front body 100 and a crash rear body 200; the front bumper body 100 sequentially comprises a plastic decorative layer 120, a bumper rubber body 110, a first soft cushion 130, a steel wire fiber layer 140, an air bag layer 150 and a second soft cushion layer 131 from front to back, wherein a lamp shade 121, license plate mounting grooves 111, laser radar mounting grooves 112 and air holes 160 are formed in the surface of the front bumper body 100, the lamp shade 121 is arranged on two sides of the bumper rubber body 110, the license plate mounting grooves 111 and the laser radar mounting grooves 112 are fixed in the middle of the front portion of the front bumper body 100, penetrate through the plastic decorative layer 120 and the bumper rubber body 110, the air holes 160 are formed in two sides of the front portion of the front bumper body 100, penetrate through the plastic decorative layer 120 and the bumper rubber body 110, and air holes 330 are formed in the air bag layer 150;
the bumper back body 200 sequentially comprises a plastic decorative layer 220, a bumper rubber body 210, a first soft cushion 230, a steel wire fiber layer 240, an air bag layer 250 and a second soft cushion layer 231 from front to back, wherein the surface of the bumper back body 200 is provided with a lamp shade 221, license plate mounting grooves 211 and vent holes 260, the lamp shade 221 is arranged on two sides of the bumper rubber body 210, the license plate mounting grooves 211 are fixed in the middle of the front part of the bumper back body 200, penetrate through the plastic decorative layer 220 and the bumper rubber body 210, the vent holes 260 are arranged on two sides of the front part of the bumper back body 200, penetrate through the plastic decorative layer 220 and the bumper rubber body 210, and the air bag layer 250 is provided with air charging holes 330;
the difference between the bumper back body 200 and the bumper front body is that the bumper back body 200 is not provided with the laser radar mounting groove 112, but is additionally provided with a warning light band 212 and an ultrasonic radar mounting groove 213, wherein the warning light band 212 is arranged right above the exterior of the bumper back body 200, and the ultrasonic radar mounting groove 213 is arranged at two sides of the warning light band 212 and penetrates through the plastic decorative layer 220 and the bumper rubber body 210;
in the invention, the electronic system comprises a detection module, a processing module, a warning module and a feedback module.
In another embodiment, the lamp covers 121 and 221 are installed in the rubber bodies 110 and 210 of the anticollision device, so that the automobile lamp can be effectively protected in collision, and the design of circular concave holes is adopted, so that the installation on an automobile is facilitated.
In another embodiment, the vent holes 160 in the bumper precursor 100 penetrate the plastic decorative layer 120 and the bumper rubber body 110, and the vent holes 260 in the bumper rear body 200 penetrate the plastic decorative layer 220 and the bumper rubber body 210, so that the gas in the bumper body can be effectively exhausted through the arrangement of the vent holes 160 and 260, and the service life of the bumper body is effectively prolonged.
In another embodiment, the plastic decorative layers 120, 220 are both mounted on the outermost portion of the impact body for protection and decoration.
In another embodiment, the bumper skins 110, 210 are made of rubber, are resilient enough to support the entire bumper and have corresponding mounting slots on the back to facilitate attachment to the vehicle.
In another embodiment, the first and second cushion layers 130, 230, 131, 231 are made of high-density sponge, and thus perform a good buffering function.
In another embodiment, the steel wire fiber layers 140 and 240 are formed by compounding and superposing the mesh steel wire layers and the mesh glass fiber layers layer by layer, and have certain rigidity and can play a good role in protecting the air bag layers 150 and 250.
As shown in fig. 3 and fig. 4, in another embodiment, the air bag layers 150 and 250 are in an "i" structure, two sides of the air bag layers are rectangular air seats 320, an air column 310 is sandwiched between the two air seats 320, an air charging hole 330 is provided on the air seats 320, so that air pressure of the air bag layers 150 and 250 can be conveniently supplemented, the three air columns 310 are arranged in an equilateral triangle manner, so that the air bag layers have sufficient stability, a good buffering effect can be obtained through air compressibility, and an air pressure sensor is further arranged on the air bag layers, so that internal pressure can be effectively detected, and a driver is prompted to supplement air pressure timely.
In another embodiment, the warning light band 212 is installed right above the outside of the bumper rear body 200, the inside of the warning light band 212 is composed of LED small bulbs, and the rear vehicles are warned by the blinking frequency of the lights to see whether there is a collision risk.
In another embodiment, the ultrasonic radar mounting grooves 213 are disposed on two sides of the warning light band 212, and ultrasonic radars are disposed in the ultrasonic radar mounting grooves to detect the distance and the speed of the coming vehicle, and the ultrasonic radars have low cost but poor accuracy, so that the detection accuracy can be effectively improved through comprehensive judgment of the ultrasonic radars on the left side and the right side.
In another embodiment, the detection module includes two ultrasonic radars on the bumper back body 200, a laser radar on the bumper front body 100, a bumper air pressure sensor, and a vehicle speed sensor, so as to effectively detect the vehicle speed and distance signals of the front and rear vehicles and the air pressure in the air bag layers 150, 250.
In another embodiment, the analysis module comprises a controller based on a DSP chip capable of receiving the signal from the detection module and transmitting a feedback signal to the alert module and the feedback module.
In another embodiment, the warning module includes a warning light band 212 and a corresponding PLC chip on the bumper back body 200, which can control the light frequency of the warning light band 212 to warn the coming vehicle behind.
In another embodiment, the feedback module comprises an in-vehicle display screen and a voice broadcasting device, and can display different information to the driver according to the signals transmitted by the analysis module and give voice prompt to the driver.
As shown in fig. 5 and 6, the invention further provides a control method of the intelligent automobile anti-collision device, which comprises the following steps:
step one, a switch is turned on, and an electronic part of an automobile bumper starts to work;
step two, detecting data by a laser radar, an ultrasonic radar, a vehicle speed sensor and an air pressure sensor, and transmitting signals to a controller; the laser radar detects the distance between the front vehicle and the speed of the front vehicle, the ultrasonic radar detects the distance between the rear vehicle and the speed of the rear vehicle, the speed sensor detects the speed of the vehicle, and the air pressure sensor detects the air pressure of the air bag layer.
Step three, the controller processes the transmitted signals, processes the information obtained by the detection module and displays the processed information on a front display screen;
step four, the controller judges whether the distance between the front vehicles is larger than the front safety distance, if yes, the step five is executed, otherwise, the step seven is skipped; when the vehicle speed is greater than 10km/h, the front safety distance takes a larger value in 3m and one thousandth of the vehicle speed per hour of the own vehicle minus the vehicle speed per hour of the front vehicle; when the vehicle speed is less than 10km/h, the front safety distance of the vehicle is 0.5m.
Step five, the controller judges whether the rear vehicle distance is greater than the rear safety distance, if yes, the step is jumped to step ten, otherwise, the step six is executed; when the vehicle speed is greater than 10km/h, the safety distance behind the vehicle takes a larger value in 3m and one thousandth of the vehicle speed per hour of the vehicle minus the vehicle speed per hour of the vehicle; when the vehicle speed is less than 10km/h, the safety distance behind the vehicle is 0.5m.
Step six, the warning light bands start to flash at the frequencies of 3Hz, 2Hz and 1Hz respectively according to the distance between the rear vehicles; when the rear vehicle distance is 3Hz frequency flicker between 2/3-1 of the rear safety distance, the rear vehicle distance is 2Hz between 1/3-2/3 of the rear safety distance, and the rear vehicle distance is 1Hz frequency flicker between 0-1/3 of the rear safety distance.
And step seven, the voice player gives an alarm to the driver.
Step eight, the controller judges whether the driver carries out corresponding adjustment, if so, the step four is executed, and if not, the step nine is executed; the controller judges whether the driver carries out corresponding adjustment according to the speed change of the vehicle.
And step nine, the electronic system sends a signal to the automobile master controller to perform forced deceleration and braking, and the process jumps to step four, and the electronic system completes the process through interaction with the automobile braking system.
And step ten, ending the working process.
The invention also provides a control method of the intelligent automobile anti-collision device, which comprises the following steps:
step one, collecting data, namely detecting the distance between a front vehicle and the speed of the front vehicle through a laser radar, detecting the distance between a rear vehicle and the speed of the rear vehicle through an ultrasonic radar, detecting the speed of the vehicle through a vehicle speed sensor, and detecting the air pressure of an air bag layer through an air pressure sensor;
step two, the controller judges whether the front vehicle distance, the front safety distance, the rear vehicle distance and the rear safety distance are subjected to early warning or not and controls as follows:
if the pre-warning is required according to the distance between the front vehicle and the front safety distance of the front vehicle, the voice broadcasting device gives a warning to the driver;
if the warning is required according to the rear vehicle distance and the rear safety distance, the warning light band starts to flash according to the rear distance;
and step three, if the controller judges that the driver does not adjust, the controller sends out a signal to forcedly slow down and brake the vehicle.
In the second step, as shown in fig. 7 to 9, a fuzzy control model is used to output a first warning probability Q 1 Judging whether to send out a voice broadcasting device early warning to a driver or not, comprising the following steps: respectively the difference DeltaS between the front safety distance and the front distance 1 Relative speed DeltaV of the host vehicle and the front vehicle 1 First early warning probability Q 1 Converting into quantization levels in the ambiguity domain; the difference DeltaS between the front safety distance and the front distance 1 Relative speed DeltaV of own vehicle and front vehicle 1 Inputting a fuzzy control model, and outputting the fuzzy control model as a first early warning probability Q 1 Further, whether the data is output or not is predicted, and the first early warning probability Q 1 The threshold value of (2) is one value of 0.44-0.53, if the first early warning probability Q 1 When the set threshold is reached, the first early warning probability Q is indicated 1 The data can be output, the controller judges that the voice broadcasting device early warning is sent to the driver, and if the first early warning probability Q is high 1 If the set threshold is not reached, the first early warning probability Q is indicated 1 The data can not be output, and the controller judges that the driver is not required to send out a voice broadcasting device for early warning; in the present embodiment, in order to ensure the control accuracy, the control device is used in different environmentsThe control can be well performed and the threshold is determined to be 0.48 according to trial and error.
Difference Δs between front safety distance and front distance 1 The variation range of (C) is [ -80, 80]Relative speed DeltaV of the host vehicle and the front vehicle 1 The variation range of (C) is [ -60, 60]The quantization factors are set to 1, so that the difference DeltaS between the front safety distance and the front distance 1 Relative speed DeltaV of own vehicle and front vehicle 1 The domains of (a) are respectively [ -80, 80]And [ -60, 60]First early warning probability Q 1 The domain of discussion of (1) is [0,1 ]]The method comprises the steps of carrying out a first treatment on the surface of the In order to ensure the control precision, the control can be well performed under different environments, and finally the difference delta S between the front safety distance and the front distance is calculated according to repeated experiments 1 The range of variation of (2) is divided into 7 grades, the fuzzy set is { NB, NM, NS, ZO, PS, PM, PB }, NB represents negative big, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, PB represents positive big; relative speed DeltaV of the vehicle and the front vehicle 1 The range of variation of (2) is divided into 7 grades, the fuzzy set is { NB, NM, NS, ZO, PS, PM, PB }, NB represents negative big, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, PB represents positive big; the output first early warning probability Q 1 Dividing into 5 grades, wherein the fuzzy set is { S, SM, M, MB, B }, S represents small, SM represents small, M represents medium, MB represents large, and B represents large; the membership functions are triangular membership functions, as shown in figures 7, 8 and 9.
The control rule selection experience of the fuzzy control model is as follows:
if the difference DeltaS between the front safety distance and the front distance 1 The relative speed DeltaV of the host vehicle and the front vehicle is positive or medium 1 If the first early warning probability Q is positive or median, etc 1 If the data is large, the data can be output, and at the moment, the judgment controller judges that the voice broadcasting device early warning is sent to the driver;
if the difference DeltaS between the front safety distance and the front distance 1 Is of negative big, negative medium or negative small, and the relative speed DeltaV of the vehicle and the front vehicle 1 A first early warning probability Q 1 Is small, i.e. dataThe output is impossible, and at the moment, the controller judges that the driver is not required to send out a voice broadcasting device for early warning;
that is, if the first early warning probability Q 1 If the data is small or smaller, the data cannot be output, and at the moment, the controller judges that the driver is not required to send out a voice broadcasting device for early warning; if the first early warning probability Q 1 If the data is large or larger, the data can be output, and at the moment, the controller judges that the voice broadcasting device early warning is sent to the driver; if the first early warning probability is 'medium', the first early warning probability Q 1 As a threshold value, if the difference DeltaS between the front safety distance and the front distance 1 Or the relative speed DeltaV of the vehicle and the front vehicle 1 If the change is slightly carried out, switching between the two conditions of early warning or no early warning is necessarily formed for the driver; specific fuzzy control rules are shown in table 1.
TABLE 1 fuzzy control rules
As shown in fig. 10 to 12, in the second step, a fuzzy control model is used to output a second warning probability Q 2 Judging whether the warning light band flashes or not, comprising the following steps: respectively the difference DeltaS between the rear safety distance and the rear distance 2 Relative speed DeltaV of rear vehicle and own vehicle 2 Second early warning probability Q 2 Converting into quantization levels in the ambiguity domain; the difference DeltaS between the rear safety distance and the rear distance 2 Relative speed DeltaV of rear vehicle and own vehicle 2 Inputting a fuzzy control model, and outputting the fuzzy control model as a second early warning probability Q 2 Further, whether the data is output or not is predicted, and the second early warning probability Q 2 The threshold value of (2) is one value of 0.49-0.57, if the second early warning probability Q 2 When the set threshold is reached, the second early warning probability Q is indicated 2 Data can be output and controlledThe controller judges that the warning light zone flashes, if the second early warning probability Q 2 If the set threshold is not reached, the second early warning probability Q is indicated 2 The data can not be output, and the controller judges that the warning light band does not flicker; in this embodiment, in order to ensure the accuracy of control, the control can be performed well in different environments, and the threshold value is determined to be 0.53 according to trial and error.
Difference deltas between the vehicle rear safety distance and the rear vehicle distance 2 The variation range of (C) is [ -80, 80]Relative speed DeltaV of rear vehicle and own vehicle 2 The variation range of (C) is [ -60, 60]The quantization factors are set to 1, so that the difference DeltaS between the rear safety distance and the rear distance 2 Relative speed DeltaV of rear vehicle and own vehicle 2 The domains of (a) are respectively [ -80, 80]And [ -60, 60]Second early warning probability Q 2 The domain of discussion of (1) is [0,1 ]]The method comprises the steps of carrying out a first treatment on the surface of the In order to ensure the control precision, the control device can well control the vehicle under different environments, and finally, the difference delta S between the rear safety distance and the rear vehicle distance is calculated according to repeated experiments 2 The range of variation of (2) is divided into 7 grades, the fuzzy set is { NB, NM, NS, ZO, PS, PM, PB }, NB represents negative big, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, PB represents positive big; relative speed DeltaV of rear vehicle and own vehicle 2 The range of variation of (2) is divided into 7 grades, the fuzzy set is { NB, NM, NS, ZO, PS, PM, PB }, NB represents negative big, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, PB represents positive big; the output second early warning probability Q 2 Dividing into 5 grades, wherein the fuzzy set is { S, SM, M, MB, B }, S represents small, SM represents small, M represents medium, MB represents large, and B represents large; the membership functions are triangular membership functions, as shown in fig. 10, 11 and 12.
The control rule selection experience of the fuzzy control model is as follows:
if the difference DeltaS between the rear safety distance and the rear distance 2 The relative speed DeltaV of the rear vehicle and the host vehicle is positive or moderate 2 If the first early warning probability is positive or median, the second early warning probability Q 2 If the data is large, the data can be output, and at the moment, the controller judges that the warning light band flashes;
if the difference DeltaS between the rear safety distance and the rear distance 2 Is of negative big, negative medium or negative small, and the relative speed DeltaV of the rear vehicle and the vehicle 2 A second early warning probability Q 2 If the data is small, namely the data can not be output, at the moment, the controller judges that the warning light band does not flicker;
that is, if the second early warning probability Q 2 If the data is small or smaller, the data can not be output, and at the moment, the controller judges that the warning light band does not flicker; if the second early warning probability Q 2 If the data is large or larger, the data can be output, and at the moment, the controller judges that the warning light band does not flicker; if the second early warning probability is 'medium', the second early warning probability Q 2 As a threshold value, in this case, if the difference DeltaS between the rear safety distance and the rear distance 2 Or the relative speed DeltaV of the rear vehicle and the own vehicle 2 If the change is slightly made, the two conditions of flickering of the warning light band or non-flickering of the warning light band are inevitably formed; specific fuzzy control rules are shown in table 2.
Table 2 fuzzy control rules
In another embodiment, the first early warning probability Q 1 And the second early warning probability Q 2 Experience correction is carried out to obtain first correction early warning probability Q 1 ' and second correction early warning probability Q 2 ' early warning probability Q is corrected through the first correction 1 ' and second correction early warning probability Q 2 ' output and judgment are carried out to remind the driver of the vehicle and the driver of the rear vehicle, and the correction process comprises the following steps:
when (when)At the time, the first correction early warning probability Q 1 ' make the following corrections:
when (when)At the time, early warning probability Q is corrected for the second correction 2 ' make the following corrections:
wherein S is 1 For the distance of the front car S S1 For the front safety distance of the car S 2 For the distance of the rear vehicle S S2 V' is the empirical correction speed, lambda, for the safe distance behind the vehicle 1 、λ 2 、λ 3 、γ 1 、γ 2 And gamma 3 Are all empirical correction coefficients; v' is 45-60 km/h, lambda 1 The value range of (a) is 1.18-1.22, lambda 2 The value range of (a) is 1.21-1.24, lambda 3 The value range of (2) is 1.25-1.28, gamma 1 The value range of (2) is 1.03-1.06, gamma 2 The value range of (2) is 1.11-1.14, gamma 3 The value range of (2) is 1.22-1.24; as a preference, V' is 55km/h, lambda 1 1.18, lambda 2 1.23 lambda 3 1.27, gamma 1 1.05, gamma 2 1.13, gamma 3 1.23.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (1)
1. A control method of an intelligent automobile anti-collision device is characterized in that,
the intelligent automobile anti-collision device comprises: a bumper body comprising a bumper precursor and a bumper rear body, the bumper body having first and second recesses recessed inwardly;
the decorative layer is matched and fixed in the first groove, and the decorative layer is a plastic decorative layer;
a plurality of cushion layers which are matingly installed inside the second groove with a gap therebetween; an airbag layer fixed in a gap between the soft cushion layers; the airbag layer includes: the air seats are provided with air charging holes, and gaps are formed among the air seats; and a plurality of air columns disposed in the gaps between the air seats; the adjacent three air columns are arranged in an equilateral triangle;
a steel wire fiber layer disposed between the soft cushion layer and the air bag layer;
the anti-collision rubber body is arranged between the decorative layer and the plurality of soft cushion layers, and the lamp shade is arranged at two sides of the anti-collision rubber body;
the vent holes are respectively arranged at two sides of the front part of the front body and the rear body of the bumper and penetrate through the decorative layer and the rubber body of the bumper;
the soft cushion layer comprises a first soft cushion and a second soft cushion layer, and the front body and the rear body of the bumper respectively comprise a plastic decorative layer, a rubber body of the bumper, a first soft cushion, a steel wire fiber layer, an air bag layer and a second soft cushion layer from front to back in sequence; wherein a laser radar mounting groove is arranged at the center of the bumper precursor and penetrates through the bumper precursor and the decorative layer for mounting a laser radar; an ultrasonic radar mounting groove is formed in the upper portion of the bumper rear body, penetrates through the bumper rear body and the decorative layer, and is used for mounting a warning light band and an ultrasonic radar;
an air pressure sensor electrically coupled to the air bag layer for monitoring air pressure within the air bag layer;
the vehicle speed sensor is used for monitoring the vehicle speed;
the feedback device comprises an in-vehicle display screen and a voice broadcasting device;
a controller electrically connecting the feedback device, the laser radar, the ultrasonic radar, the air pressure sensor and the vehicle speed sensor;
the control method comprises the following steps:
step one, collecting data, namely detecting the distance between a front vehicle and the speed of the front vehicle through a laser radar, detecting the distance between a rear vehicle and the speed of the rear vehicle through an ultrasonic radar, detecting the speed of the vehicle through a vehicle speed sensor, and detecting the air pressure of an air bag layer through an air pressure sensor;
step two, the controller judges whether the front vehicle distance, the front safety distance, the rear vehicle distance and the rear safety distance are subjected to early warning or not and controls as follows:
if the pre-warning is required according to the distance between the front vehicle and the front safety distance of the front vehicle, the voice broadcasting device gives a warning to the driver;
if the warning is required according to the rear vehicle distance and the rear safety distance, the warning light band starts to flash according to the rear distance;
step three, if the controller judges that the driver does not adjust, the controller sends out a signal to forcedly slow down and brake the vehicle;
in the second step, fuzzy control is adopted to output first early warning probability Q respectively 1 And a second early warning probability Q 2 Further judging whether to perform early warning or not, comprising the following steps:
respectively the difference DeltaS between the front safety distance and the front distance 1 Relative speed DeltaV of the host vehicle and the front vehicle 1 First early warning probability Q 1 Converting into quantization levels in the ambiguity domain; the difference DeltaS between the front safety distance and the front distance 1 Relative speed DeltaV of own vehicle and front vehicle 1 Inputting a fuzzy control model, and uniformly dividing the fuzzy control model into 7 grades; the fuzzy control model is output as the first early warning probability Q 1 The classification is 5 grades; according to the first early warning probability Q 1 Judging whether to send out a voice broadcasting device early warning to a driver; and
respectively the difference DeltaS between the rear safety distance and the rear distance 2 Relative speed DeltaV of rear vehicle and own vehicle 2 Second early warning probability Q 2 Converting into quantization levels in the ambiguity domain; the difference DeltaS between the rear safety distance and the rear distance 2 Rear vehicle and bookRelative vehicle speed DeltaV of vehicle 2 Inputting a fuzzy control model, and uniformly dividing the fuzzy control model into 7 grades; the fuzzy control model is output as the second early warning probability Q 2 The classification is 5 grades; according to the second early warning probability Q 2 Judging whether the warning light band flashes or not;
difference Δs between front safety distance and front distance 1 The domain of (2) is [ -80, 80]Relative speed DeltaV of the host vehicle and the front vehicle 1 The domain of (2) is [ -60, 60]The first early warning probability Q 1 The domain of discussion of (1) is [0,1 ]]Setting the quantization factors to be 1, and setting the first early warning probability Q 1 The threshold value of (2) is one of 0.44 to 0.53; and
difference deltas between the vehicle rear safety distance and the rear vehicle distance 2 The domain of (2) is [ -80, 80]Relative speed DeltaV of rear vehicle and own vehicle 2 The domain of (2) is [ -60, 60]The second early warning probability Q 2 The domain of discussion of (1) is [0,1 ]]Setting the quantization factors to be 1, and setting the second early warning probability Q 2 The threshold value of (2) is one of 0.49 to 0.57;
the difference DeltaS between the front safety distance and the front distance 1 The fuzzy set of (a) is { NB, NM, NS, ZO, PS, PM, PB }, the relative speed DeltaV of the host vehicle and the front vehicle 1 Is { NB, NM, NS, ZO, PS, PM, PB }, the first early warning probability Q 1 Is { S, SM, M, MB, B }; the membership functions are triangular functions; and
the difference delta S between the rear safety distance and the rear distance 2 The fuzzy set of (a) is { NB, NM, NS, ZO, PS, PM, PB }, and the relative speed DeltaV of the rear vehicle and the own vehicle 2 The fuzzy set of (2) is { NB, NM, NS, ZO, PS, PM, PB }, the second early warning probability Q 2 Is { S, SM, M, MB, B }; the membership functions are triangular functions;
respectively to the first early warning probability Q 1 And the second early warning probability Q 2 Experience correction is carried out to obtain first correction early warning probability Q 1 ' and second correction early warning probability Q 2 ' comprising the following correction procedure:
when (when)V 0 ＞V 1 At the time, the first correction early warning probability Q 1 ' make the following corrections:
when (when)V 2 ＞V 0 At the time, early warning probability Q is corrected for the second correction 2 ' make the following corrections:
wherein S is 1 For the distance of the front car S S1 For the front safety distance of the car S 2 For the distance of the rear vehicle S S2 V' is the empirical correction speed, lambda, for the safe distance behind the vehicle 1 、λ 2 、λ 3 、γ 1 、γ 2 、γ 3 Are all empirical correction coefficients; v' is 45-60 km/h, lambda 1 The value range of (a) is 1.18-1.22, lambda 2 The value range of (a) is 1.21-1.24, lambda 3 The value range of (2) is 1.25-1.28, gamma 1 The value range of (2) is 1.03-1.06, gamma 2 The value range of (2) is 1.11-1.14, gamma 3 The value range of (2) is 1.22-1.24; v (V) 0 For the speed of the host vehicle, V 1 For the speed of the front vehicle, V 2 Is the speed of the rear vehicle.
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